Elevator system and control method thereof

Abstract

An elevator system and a control method thereof, the elevator system comprising one or more elevator lines, each of which comprises at least one elevator car, an image unit, and a control unit; the image unit comprises a first imaging device installed in an elevator car and a second imaging device provided for an elevator hall on each floor of a building. The control unit comprises a first controller for controlling and managing the operation of the elevator and a second controller for controlling and managing the operation of the robot; and each of the elevator routes operates in any one of a non-robotic exclusive mode, a robotic exclusive mode, and a boarding sharing mode.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This patent document claims the benefit of Korean Patent Application No. 10-2023-0136473, filed on October 13, 2023, the entire disclosure of which is incorporated by reference for all purposes as if fully set forth herein. Technical Field

[0003] The invention relates to an elevator system and a control method thereof. Background Art

[0004] The elevator includes an elevator car moving in a vertical direction along a hoistway formed inside a building, a crane generating power to raise or lower the elevator car, and a power transmission device transmitting the power of the elevator hoistway to the elevator car.

[0005] The elevator car moves in a vertical direction along an elevator shaft formed inside a building. The elevator is equipped with a motor that generates power, an elevator shaft, etc. to raise or lower the elevator car. One or more elevators installed in a building can be controlled and managed as a whole.

[0006] The elevator allows robots and / or non-robots (such as people, cargo, animals, and plants) to move vertically within the building.

[0007] Recently, robots have been used to provide services. However, since commercially available robots can move horizontally and are not designed to move vertically, a member that enables the robot to move between floors in a building is required.

[0008] Therefore, various interlocking control techniques between the robot and the elevator are developed in this technology to allow the robot to board the elevator and thus move between floors in the building.

[0009] <Related Literature>

[0010] <Patent Documents>

[0011] Korean Patent Charter Public Publishing No. 10-2022-0139528 Summary of the invention

[0012] Embodiments of the present invention are conceived to solve such problems in the art, and aspects of the present invention are to provide an elevator system and a control method thereof, which operate the elevator system based on video information when there is a difference between the number of robots based on position signals sent from the robots and the number of robots based on video information.

[0013] According to one aspect of the present invention, an elevator system includes one or more elevator lines, an image unit and a control unit, wherein each of the elevator lines includes at least one elevator car; the image unit includes a first imaging device installed inside the elevator car and a second imaging device provided to the elevator hall on each floor of the building; the control unit includes a first controller for controlling and managing the operation of the elevator and a second controller for controlling and managing the operation of a robot; and each of the elevator lines operates in any one of a non-robot exclusive mode, a robot exclusive mode and an elevator sharing mode.

[0014] The image unit may transmit at least one of the following to the first controller: the number of robots placed in a specific elevator car; the number of non-robots placed in a specific elevator car; the number of robots placed in all elevator cars on each elevator line; the number of non-robots placed in all elevator cars on each elevator line; the number of robots placed in all elevator cars in a building; and the number of non-robots placed in all elevator cars in a building, as calculated based on the image information recognized by the first imaging device.

[0015] The image unit may transmit at least one of the following to the first controller: the number of robots waiting in the elevator hall in front of a specific elevator line on a specific floor; the number of non-robots waiting in the elevator hall in front of a specific elevator line on a specific floor; the number of robots waiting in all elevator halls on a specific floor; the number of non-robots waiting in all elevator halls on a specific floor; the number of robots waiting in all elevator halls on each elevator line; the number of non-robots waiting in all elevator halls on each elevator line; the number of robots waiting in all elevator halls in a building; and the number of non-robots waiting in all elevator halls in a building, as calculated based on the image information recognized by the second imaging device.

[0016] The second controller may transmit to the first controller at least one of: the number of robots placed in a particular elevator car; the number of robots placed in all elevator cars on each elevator line; and the number of robots placed in all elevator cars in the building, as calculated based on position signals sent from the robots.

[0017] The second controller may transmit to the first controller at least one of: the number of robots waiting in the elevator hall in front of a specific elevator line on a specific floor; the number of robots waiting in all elevator halls on a specific floor; the number of robots waiting in all elevator halls on each elevator line; and the number of robots waiting in all elevator halls in the building, as calculated based on position signals sent from the robots.

[0018] According to another aspect of the present invention, a method for controlling an elevator system is provided, wherein when there is a difference between the number of robots or non-robots received from an image unit and the number of robots or non-robots received from a second controller, a first controller adjusts the number of available robots for each floor of a building based on the number of robots or non-robots received from the image unit.

[0019] According to another aspect of the present invention, a method for controlling an elevator system is provided, wherein when there is a difference between the number of robots or non-robots received from an image unit and the number of robots or non-robots received from a second controller, a first controller switches an operation mode of an elevator line according to the number of robots or non-robots received from the image unit.

[0020] When a specific elevator line is operating in a robot exclusive mode, when the number of robots received from the image unit indicates that neither a robot is waiting in any elevator hall on the entire corresponding elevator line nor a robot is placed inside any elevator car on the entire corresponding elevator line, for a certain period of time or longer, the first controller may switch the corresponding elevator line to an elevator sharing mode.

[0021] In a state where the corresponding elevator line is switched from the robot exclusive mode to the elevator sharing mode by the first controller, when the number of non-robots received from the image unit indicates that neither there are non-robots waiting in any elevator hall on the entire corresponding elevator line nor non-robots are placed inside any elevator car on the entire corresponding elevator line for a certain period of time or longer, the first controller may restore the corresponding elevator line from the elevator sharing mode to the robot exclusive mode.

[0022] In a state where a specific elevator line is operating in a non-robot exclusive mode, when the number of non-robots received from the image unit indicates that neither a non-robot is waiting in any elevator hall on the entire corresponding elevator line nor a non-robot is placed inside any elevator car on the entire corresponding elevator line for a certain period of time or longer, the first controller may switch the corresponding elevator line to an elevator sharing mode.

[0023] In a state where the corresponding elevator line is switched from a non-robot exclusive mode to an elevator sharing mode by the first controller, when the number of robots received from the image unit indicates that neither there is a robot waiting in any elevator hall on the entire corresponding elevator line nor a robot is placed inside any elevator car on the entire corresponding elevator line for a certain period of time or longer, the first controller may restore the corresponding elevator line from the elevator sharing mode to the non-robot exclusive mode.

[0024] According to the embodiments of the present invention, it is possible to achieve effective traffic handling even in an abnormal situation where the number of robots based on the position signal transmitted from the robot is different from the number of robots based on the image information. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other aspects, features and advantages of the present invention will become apparent from the detailed description of the following embodiments in conjunction with the accompanying drawings.

[0026] Figure 1 Schematic diagrams showing robots and non-robots boarding the elevator car.

[0027] Figure 2 It is a schematic diagram of an example of an internal image of the elevator car identified by the first imaging device installed inside the elevator car.

[0028] Figure 3 A schematic diagram of an example of an elevator hall image identified by the second imaging device provided to the elevator hall.

[0029] Figure 4 It is a schematic diagram of an elevator system according to one embodiment of the present invention.

[0030] Figure 5 A schematic flowchart showing an elevator system control method according to an embodiment of the present invention.

[0031] Figure 6 A schematic flowchart showing an elevator system control method according to another embodiment of the present invention.

[0032] Description of Figure Numbers

[0033] EC: elevator car;

[0034] 100: image unit;

[0035] 110: a first imaging device;

[0036] 120: a second imaging device;

[0037] 200: control unit;

[0038] 210: a first controller;

[0039] 220: second controller;

[0040] 300: Individual;

[0041] 310: Robot;

[0042] 320: Not a robot. DETAILED DESCRIPTION

[0043] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention. The present invention can be applied to the field of robot and elevator control in various ways. It should be understood that the present invention can be embodied in different ways and is not limited to the following embodiments.

[0044] Figure 1 A schematic diagram of a robot 310 and a non-robot 320 (such as a human) mounted on the elevator car EC.

[0045] refer to Figure 1 , the elevator car EC provided to the elevator system according to the present invention may be loaded with a robot 310 and non-robots 320 such as people, goods, animals, plants, etc. Herein, the robot 310 will be used as a concept that broadly covers automatic, unmanned, and other mechanical devices that move and / or perform tasks automatically or by external control. The robot 310 may be a service robot for providing services on at least one floor in a building.

[0046] The elevator car EC may be equipped therein with a first imaging device 110 that captures an interior image of the elevator car EC, and an elevator lobby (where passengers get on and off the elevator) on each floor of the building may be equipped with a second imaging device 120 that captures an image of the elevator lobby.

[0047] Figure 2 It is a schematic diagram showing an example of an internal image of the elevator car EC identified by the first imaging device 110 installed inside the elevator car EC. If Figure 2 As shown in this, the robot 310 and the non-robot 320 mounted on the elevator car EC may be identified by the first imaging device 110 .

[0048] Figure 3 It is a schematic diagram of an example of an elevator hall image identified by the second imaging device 120 provided to the elevator hall. If Figure 3 As shown in this, the robot 310 and the non-robot 320 waiting in the elevator hall may be identified by the second imaging device 120 .

[0049] Figure 4 It is a schematic diagram of an elevator system according to one embodiment of the present invention. Reference Figure 4 , the elevator system according to this embodiment includes an image unit 100 and a control unit 200 .

[0050] The image unit 100 may include a first imaging device 110 installed inside the elevator car EC and a second imaging device 120 provided to the elevator hall on each floor of the building. Various devices such as cameras, CCTVs, etc. that can recognize images and communicate with the control unit 200 may be used as the first imaging device 110 and the second imaging device 120.

[0051] The control unit 200 may include a first controller 210 that controls and manages the overall operation of the elevator and a second controller 220 that controls and manages the overall operation of the robot 310 .

[0052] The image unit 100 identifies and tracks individuals 300. The individuals 300 may include robots 310 and non-robots 320 such as people, goods, animals, or plants. The image unit 100 may employ machine learning to improve the ability to distinguish and detect individuals 300.

[0053] The image unit 100 can distinguish, detect, and identify at least one individual 300 placed inside the elevator car EC by calculating image information of the interior of the elevator car EC recognized by the first imaging device 110. The image unit 100 can distinguish, detect, and identify at least one individual 300 waiting in the elevator hall by calculating image information of the elevator hall recognized by the second imaging device 120.

[0054] The image unit 100 may transmit at least one of the following to the first controller 210: the number of robots 310 placed inside a specific elevator car EC; the number of non-robots 320 placed inside a specific elevator car EC; the number of robots 310 placed inside all elevator cars EC on each elevator line; the number of non-robots 320 placed inside all elevator cars EC on each elevator line; the number of robots 310 placed inside all elevator cars EC in a building; and the number of non-robots 320 placed inside all elevator cars EC in a building, as calculated based on the image information recognized by the first imaging device 110.

[0055] In this article, elevator line means the identification number set of each elevator shaft.In addition, although a single elevator line is usually equipped with a single elevator car, it should be understood that other embodiments are possible, and a single elevator line can be equipped with a plurality of elevator cars.

[0056] The image unit 100 may transmit at least one of the following to the first controller 210: the number of robots 310 waiting in the elevator hall in front of a specific elevator line on a specific floor; the number of non-robots 320 waiting in the elevator hall in front of a specific elevator line on a specific floor; the number of robots 310 waiting in all elevator halls on a specific floor; the number of non-robots 320 waiting in all elevator halls on a specific floor; the number of robots 310 waiting in all elevator halls on each elevator line; the number of non-robots 320 waiting in all elevator halls on each elevator line; the number of robots 310 waiting in all elevator halls in a building; and the number of non-robots 320 waiting in all elevator halls in a building, as calculated based on the image information recognized by the second imaging device 120.

[0057] The first controller 210 may send a control signal to the image unit 100. The first controller 210 may receive image information from the image unit 100. The first controller 210 may perform group management of elevators. The first controller 210 may include a terminal, a monitoring board, etc. that perform monitoring of elevators.

[0058] The second controller 220 may send a control signal to the robot 310. The second controller 220 may receive a position signal from the robot 310. The second controller 220 may monitor a moving path of the robot 310 based on the position signal sent from the robot 310. The second controller 220 may determine whether the robot 310 is placed inside the elevator car EC and whether the robot 310 is waiting in the elevator hall based on the position signal sent from the robot 310.

[0059] The second controller 220 may transmit to the first controller 210 at least one of the following: the number of robots 310 placed inside a specific elevator car EC; the number of robots 310 placed inside all elevator cars EC on each elevator line; and the number of robots 310 placed inside all elevator cars EC in a building, as calculated based on position signals sent from the robots 310.

[0060] The second controller 220 may transmit at least one of the following to the first controller 210: the number of robots 310 waiting in the elevator hall in front of a specific elevator line on a specific floor; the number of robots 310 waiting in all elevator halls on a specific floor; the number of robots 310 waiting in all elevator halls on each elevator line; and the number of robots 310 waiting in all elevator halls in the building, as calculated based on the position signal sent from the robot 310.

[0061] According to the present invention, it is possible to achieve effective traffic handling even in an abnormal situation where the number of robots based on the position signal transmitted from the robot is different from the number of robots based on the image information. To this end, the first controller 210 may compare the number of robots 310 received from the image unit 100 with the number of robots 310 received from the second controller 220. When the number of robots 310 received from the image unit 100 is different from the number of robots 310 received from the second controller 220, the first controller 210 may give priority to the number of robots 310 received from the image unit 100 to determine that the number of robots 310 received from the image unit 100 is the actual number of robots 310, and the number of available robots 310 on each floor of the building may be adjusted. This will be described with reference to some examples as follows.

[0062] (1) When the number of robots 310 waiting in all elevator halls in the building is different,

[0063] 1) When the number of robots 310 received from the image unit 100 is smaller than the number of robots 310 received from the second controller 220

[0064] The first controller 210 may adjust the number of available robots 310 on each floor to the number of robots 310 received from the image unit 100 to allocate an optimal elevator line to an elevator hall where the robot 310 sends a new call.

[0065] Therefore, when the number of robots 310 received from the second controller 220 indicates that the number of available robots 310 exceeds the preset limit and the number of robots 310 received from the image unit 100 indicates that the number of available robots 310 does not exceed the preset limit, it is possible to prevent the first controller 210 from determining that the number of available robots 310 exceeds the preset limit even if the number of available robots 310 does not actually exceed the preset limit. In addition, it is possible to prevent unnecessary distribution allocation of elevator cars based on the assumption that the number of available robots 310 is determined to exceed the preset limit although the number of available robots 310 does not actually exceed the preset limit.

[0066] 2) When the number of robots 310 received from the image unit 100 is greater than the number of robots 310 received from the second controller 220

[0067] The first controller 210 may adjust the number of available robots 310 on each floor to the number of robots 310 received from the image unit 100 to prevent the number of available robots 310 from exceeding preset limits on certain floor sections during a call service of the robots 310 .

[0068] Therefore, when the number of robots 310 received from the second controller 220 indicates that the number of available robots 310 does not exceed the preset limit and the number of robots 310 received from the image unit 100 indicates that the number of available robots 310 exceeds the preset limit, it is possible to prevent the first controller 210 from determining that the number of available robots 310 does not exceed the preset limit even if the number of available robots 310 actually exceeds the preset limit. In addition, the elevator system can prevent the robots 310 inside the elevator car EC from being overcrowded by ensuring that the distributed allocation of the elevator car is achieved.

[0069] (2) When the number of robots 310 inside all elevator cars ECs placed in the building is different

[0070] 1) When the number of robots 310 received from the image unit 100 is smaller than the number of robots 310 received from the second controller 220

[0071] The first controller 210 may adjust the number of available robots 310 on each floor to the number of robots 310 received from the image unit 100 to allocate an optimal elevator line to an elevator hall where the robot 310 sends a new call.

[0072] Therefore, when the number of robots 310 received from the second controller 220 indicates that the number of available robots 310 exceeds the preset limit and the number of robots 310 received from the image unit 100 indicates that the number of available robots 310 does not exceed the preset limit, it is possible to prevent the first controller 210 from determining that the number of available robots 310 exceeds the preset limit even if the number of available robots 310 does not actually exceed the preset limit.

[0073] 2) When the number of robots 310 received from the image unit 100 is greater than the number of robots 310 received from the second controller 220

[0074] The first controller 210 may adjust the number of available robots 310 on each floor to the number of robots 310 received from the image unit 100 to prevent the number of available robots 310 from exceeding preset limits on certain floor sections during a call service of the robots 310 .

[0075] Therefore, when the number of robots 310 received from the second controller 220 indicates that the number of available robots 310 does not exceed the preset limit and the number of robots 310 received from the image unit 100 indicates that the number of available robots 310 exceeds the preset limit, it is possible to prevent the first controller 210 from determining that the number of available robots 310 does not exceed the preset limit even if the number of available robots 310 actually exceeds the preset limit.

[0076] The elevator line can be operated in one of the following three modes.

[0077] 1) Non-bot exclusive mode

[0078] In this mode, only non-robots 320 (such as humans, etc.) are allowed to board the elevator car EC, and elevator lines are allocated only in response to calls from non-robots 320 , and not in response to calls from robots 310 .

[0079] 2) Robot exclusive mode

[0080] In this mode, only the robot 310 is allowed to board the elevator car EC, and the elevator line is allocated only in response to a call from the robot 310, and not in response to a call from a non-robot 320 (such as a person, etc.).

[0081] 3) Elevator sharing mode

[0082] In this mode, both the robot 310 and the non-robot 320 are allowed to board the elevator car EC, and an elevator line is allocated in response to a call from the robot 310 or a call from a non-robot 320 (such as a person, etc.).

[0083] When the number of robots 310 received from the image unit 100 is different from the number of robots 310 received from the second controller 220, the first controller 210 compares the number of robots 310 received from the image unit 100 with the number of robots 310 received from the second controller 220, and may switch the operation mode of the elevator line based on the number of robots 310 received from the image unit 100. This will be described with reference to some examples as follows.

[0084] Figure 5 A schematic flowchart showing an elevator system control method according to an embodiment of the present invention. Hereinafter, reference will be made Figure 5 To describe the elevator system control method.

[0085] (Case 1) In a state where a specific elevator line is operating in the robot exclusive mode (S110), the number of robots 310 received from the image unit 100 indicates that (1) no robot 310 is waiting in any elevator hall on the entire corresponding elevator line (S120), (2) no robot 310 is placed in any elevator car EC on the entire corresponding elevator line (S130), and (3) this condition continues for "a certain period" or longer (S140)

[0086] In case 1, the first controller 210 switches the corresponding elevator line to the elevator sharing mode (S150) to allow the corresponding elevator line to be allocated in response to not only a call from the robot 310 but also a call from a non-robot 320 (such as a person, etc.).

[0087] Therefore, it is possible to improve the efficiency of traffic handling by ameliorating inefficiencies by setting the corresponding elevator line to a robot exclusive mode to prevent non-robots 320 (such as humans, etc.) from using the corresponding elevator line even if there is actually no robot 310 using the corresponding elevator line.

[0088] Although it is desired that the operation of the first controller 210 automatically occurs when the above conditions are met to switch the corresponding elevator line to the ladder sharing mode, it should be understood that other embodiments are possible. In addition, "a certain period of time" can be a predetermined period of time or a period of automatic training. This also applies to the following situations.

[0089] (Case 2) In a state where the corresponding elevator line is switched from the robot exclusive mode (Case 1) to the elevator sharing mode by the first controller 210, the number of non-robots 320 received from the image unit 100 indicates that (1) no non-robot 320 is waiting in any elevator hall on the entire corresponding elevator line (S160), (2) no non-robot 320 is placed in any elevator car EC on the entire corresponding elevator line (S170), and (3) this condition continues for "a certain period" or longer (S180).

[0090] Case 2 can include any of the following three situations:

[0091] 1) The number of robots 310 received from the image unit 100 indicates that there are robots 310 waiting in any elevator hall on the entire corresponding elevator line or there are robots 310 placed in any elevator car EC on the entire corresponding elevator line;

[0092] 2) the number of robots 310 received from the image unit 100 indicates that neither the robot 310 is waiting in any elevator hall on the entire corresponding elevator line, nor the robot 310 is placed in any elevator car EC on the entire corresponding elevator line, and this condition lasts for "a certain period" or longer; and

[0093] 3) Generate a hall call or a car call from the robot 310.

[0094] In case 2, the first controller 210 restores the corresponding elevator line from the elevator sharing mode to the robot exclusive mode (S190) to allow the corresponding elevator line to be allocated only in response to a call from the robot 310, while preventing the corresponding elevator line from being allocated in response to a call from a non-robot 320 (such as a person, etc.).

[0095] Therefore, it is possible to improve the efficiency of traffic disposal by allowing effective call service of the robot 310 .

[0096] Although it is desirable to automatically occur when the above conditions are met to restore the corresponding elevator line to the robot exclusive mode, it is understood that other implementations are possible.

[0097] Figure 6 A schematic flowchart showing an elevator system control method according to another embodiment of the present invention. Hereinafter, reference will be made Figure 6 To describe the elevator system control method.

[0098] (Case 3) In a state where a specific elevator line is operated in the non-robot exclusive mode (S210), the number of non-robots 320 received from the image unit 100 indicates that (1) no non-robot 320 (such as a person, etc.) is waiting in any elevator hall on the entire corresponding elevator line (S220), (2) no non-robot 320 is placed in any elevator car EC on the entire corresponding elevator line (S230), and (3) this condition continues for "a certain period" or longer (S240).

[0099] The first controller 210 switches the corresponding elevator line to the elevator sharing mode ( S250 ) to allow the corresponding elevator line to be allocated in response to not only a call from a non-robot 320 (such as a person, etc.) but also a call from the robot 310 .

[0100] Therefore, it is possible to improve the efficiency of traffic handling by ameliorating inefficiencies by setting the corresponding elevator line to a non-robot exclusive mode to prevent the robot 310 from using the corresponding elevator line even if there is actually no non-robot 320 (such as a person, etc.) using the corresponding elevator line.

[0101] Although it is desirable to automatically occur when the above conditions are met to switch the corresponding elevator line to the elevator sharing mode, it is understood that other implementations are possible.

[0102] (Case 4) In a state where the corresponding elevator line is switched from the non-robot exclusive mode (Case 3) to the elevator sharing mode by the first controller 210, the number of robots 310 received from the image unit 100 indicates that (1) no robot 310 is waiting in any elevator hall on the entire corresponding elevator line (S260), (2) no robot 310 is placed in any elevator car EC on the entire corresponding elevator line (S270), and (3) this condition continues for "a certain period" or longer (S280).

[0103] Case 4 may include any of the following three situations:

[0104] 1) The number of non-robots 320 received from the image unit 100 indicates that there are non-robots 310 waiting in a certain elevator hall on the entire corresponding elevator line or there are non-robots 310 placed in a certain elevator car EC on the entire corresponding elevator line;

[0105] 2) The number of non-robots 310 received from the image unit 100 indicates that neither a non-robot 320 is waiting in any elevator hall on the entire corresponding elevator line, nor a non-robot 320 is placed in any elevator car EC on the entire corresponding elevator line, and this condition lasts for “a certain period” or longer; and

[0106] 3) Generate hall calls or car calls from non-robots 310.

[0107] In case 4, the first controller 210 restores the corresponding elevator line from the elevator sharing mode to the non-robot exclusive mode (S290) to allow the corresponding elevator line to be allocated only in response to a call from a non-robot 320 (such as a person, etc.), while preventing the corresponding elevator line from being allocated in response to a call from a robot 310.

[0108] Therefore, it is possible to improve the efficiency of traffic disposal by allowing effective call services by non-robot 310 .

[0109] Although it is desirable to automatically occur when the above conditions are met to restore the corresponding elevator line to a non-robot exclusive mode, it is understood that other implementations are possible.

[0110] Although some exemplary embodiments have been described herein, it should be understood that these embodiments are given by way of illustration only, and various modifications, changes and variations may be made by those skilled in the art without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention shall be limited only by the appended claims and their equivalents.

Claims

1. An elevator system, comprising one or more elevator lines, an image unit and a control unit, wherein: Each of the elevator lines includes at least one elevator car; The imaging unit includes a first imaging device installed inside the elevator car and a second imaging device provided to an elevator hall on each floor of the building; The control unit includes a first controller that controls and manages the operation of the elevator and a second controller that controls and manages the operation of the robot; and Each of the elevator lines operates in any one of a non-robot exclusive mode, a robot exclusive mode, and an elevator sharing mode.

2. The elevator system of claim 1, wherein the image unit transmits to the first controller at least one of: a number of robots placed in a particular elevator car; a number of non-robotics placed in the particular elevator car; The number of robots placed in all elevator cars on each elevator line; the number of non-robotic vehicles placed in all elevator cars on each elevator line; the number of robots placed in all elevator cars in the building; and the number of non-robots placed in all elevator cars in the building, as calculated based on the image information recognized by the first imaging device.

3. An elevator system according to claim 1, wherein the image unit transmits at least one of the following to the first controller: the number of robots waiting in the elevator hall in front of a specific elevator line on a specific floor; the number of non-robots waiting in the elevator hall in front of the specific elevator line on the specific floor; the number of robots waiting in all elevator halls on the specific floor; the number of non-robots waiting in all elevator halls on the specific floor; the number of robots waiting in all elevator halls on each elevator line; the number of non-robots waiting in all elevator halls on each elevator line; the number of robots waiting in all elevator halls in the building; and the number of non-robots waiting in all elevator halls in the building, as calculated based on the image information recognized by the second imaging device.

4. The elevator system of claim 1, wherein the second controller transmits to the first controller at least one of: the number of robots placed in a particular elevator car; The number of robots placed in all elevator cars on each elevator line; and the number of robots placed in all elevator cars in the building, as calculated based on position signals sent from the robots.

5. The elevator system according to claim 1, wherein the second controller transmits at least one of the following to the first controller: the number of robots waiting in the elevator hall in front of a specific elevator line on a specific floor; the number of robots waiting in all elevator halls on the specific floor; the number of robots waiting in all elevator halls on each elevator line; and the number of robots waiting in all elevator halls in the building, as calculated based on the position signal sent from the robot.

6. A method for controlling an elevator system as described in any one of claims 1 to 5, wherein when there is a difference between the number of robots or non-robots received from the image unit and the number of robots or non-robots received from the second controller, the first controller adjusts the number of available robots for each floor of the building based on the number of robots or non-robots received from the image unit.

7. A method of controlling an elevator system as described in any one of claims 1 to 5, wherein when there is a difference between the number of robots or non-robots received from the image unit and the number of robots or non-robots received from the second controller, the first controller switches the operation mode of the elevator line according to the number of robots or non-robots received from the image unit.

8. The method according to claim 7, wherein: When a specific elevator line is operating in the robot exclusive mode, when the number of robots received from the image unit indicates that neither a robot is waiting in any elevator hall on the entire corresponding elevator line nor a robot is placed inside any elevator car on the entire corresponding elevator line for a certain period of time or longer, the first controller switches the corresponding elevator line to the elevator sharing mode.

9. The method according to claim 8, wherein: In the state where the corresponding elevator line is switched from the robot exclusive mode to the elevator sharing mode by the first controller, when the number of non-robots received from the image unit indicates that neither non-robots are waiting in any elevator hall on the entire corresponding elevator line nor non-robots are placed inside any elevator car on the entire corresponding elevator line, for a certain period of time or longer, the first controller restores the corresponding elevator line from the elevator sharing mode to the robot exclusive mode.

10. The method according to claim 7, wherein: In a state where a specific elevator line is operating in the non-robot exclusive mode, when the number of non-robots received from the image unit indicates that neither a non-robot is waiting in any elevator hall on the entire corresponding elevator line, nor a non-robot is placed inside any elevator car on the entire corresponding elevator line, for a certain period of time or longer, the first controller switches the corresponding elevator line to the elevator sharing mode.

11. The method according to claim 10, wherein: In the state where the corresponding elevator line is switched from the non-robot exclusive mode to the elevator sharing mode by the first controller, when the number of robots received from the image unit indicates that neither there is a robot waiting in any elevator hall on the entire corresponding elevator line nor a robot is placed inside any elevator car on the entire corresponding elevator line, for a certain period of time or longer, the first controller restores the corresponding elevator line from the elevator sharing mode to the non-robot exclusive mode.

Images