Charging elevator allocation method for robot charging

Abstract

The invention discloses a charging elevator deploying method for robot charging, the charging elevator refers to an elevator with a car internally provided with charging equipment for providing charging service for a robot, and the deploying method is based on the principle of minimizing the influence on passengers caused by charging of a to-be-charged robot in the charging elevator. And one elevator is selected from all the charging elevators to serve as a specific elevator to charge the to-be-charged robot. The charging elevator capable of providing the charging service for the robot is properly allocated, and the reduction of the elevator taking experience of passengers caused by charging of the robot in the elevator car is minimized.

Description

Technical Field

[0001] The present invention relates to the field of elevators, and particularly to a method for dispatching charging elevators that can provide charging services for robots. Background Art

[0002] The continuous development of robot technology has steadily expanded its application fields. Robots usually perform tasks using the energy stored inside them, and when the stored energy is lower than a preset value, they will return to the charging pile for charging. Currently, robot charging piles are usually set at a dedicated charging position for robots inside a building. However, this dedicated charging position for robots inside the building requires occupying space inside the building, laying dedicated power supply lines, and affecting the overall aesthetics of the location where the charging position is located.

[0003] If the robot charging pile is set inside the elevator car and the car is used to provide electrical energy for the robot, it can overcome the various disadvantages of setting the charging pile inside the building. However, setting the robot charging pile inside the elevator car brings a new problem, that is, during the charging of the robot inside the elevator car, if the elevator is assigned a passenger call signal, it will cause the robot and passengers to be in the same car, thus having an adverse impact on the passengers' elevator riding experience. Although the problem of the charging robot affecting the passengers' elevator riding experience can be solved by prohibiting the charging elevator from being used as a responding elevator to the call signal, this processing method will obviously affect the passengers' elevator riding experience due to reducing the overall elevator transportation capacity, such as an extended waiting time, an increased congestion degree in the waiting hall and / or the car, etc.

[0004] Therefore, how to provide in-car charging services for robots without (basically) affecting the passengers' elevator riding experience has become a technical problem to be solved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to provide in-car charging services for robots without (basically) affecting the passengers' elevator riding experience.

[0006] To solve the above technical problem, the present invention discloses a method for dispatching charging elevators for robot charging. The charging elevator refers to an elevator with charging equipment for providing charging services for robots installed inside the car. The dispatching method selects one elevator from each charging elevator as a specific elevator to charge the robot to be charged on the principle of minimizing the impact on passengers caused by the robot to be charged charging inside the charging elevator.

[0007] Preferably, when there is a charging elevator in the idle state, the allocation method uses the charging elevator in the idle state as the specific elevator; when there is no charging elevator in the idle state, the allocation method selects a first elevator from each charging elevator as the specific elevator; the first elevator refers to the charging elevator that includes the floor where the charging robot is located among the remaining floors to be docked except the floor to be docked generated by this charging request.

[0008] Preferably, when there are multiple first elevators, the allocation method selects a second elevator from each charging elevator as the specific elevator; the second elevator refers to the charging elevator that, after docking at the floor where the charging robot is located, has no passengers to be transported in the car or no unresponded call signals that have been assigned but not yet responded.

[0009] Preferably, when there is no second elevator, the allocation method selects a third elevator from each charging elevator as the specific elevator; the third elevator refers to the charging elevator that, after docking at the floor where the charging robot is located, has no passengers to be transported in the car and all the unresponded call signals that have been assigned but not yet responded come from the robot.

[0010] Preferably, when there is no third elevator, the allocation method selects a fourth elevator from each charging elevator as the specific elevator; the fourth elevator refers to the charging elevator that, after docking at the floor where the charging robot is located, has no passengers to be transported in the car, and among the unresponded call signals that have been assigned but not yet responded, the number of call signals from passengers is the smallest or the farthest destination floor of the call signals from passengers is the closest to the floor where the charging robot is located.

[0011] Preferably, selecting the fourth elevator as the specific elevator includes the following steps:

[0012] Step A1, dividing each charging elevator into two groups: upward elevators and downward elevators;

[0013] Step A2, respectively determining, for the upward elevators and the downward elevators, the charging elevator that, after docking at the floor where the charging robot is located, has no passengers to be transported in the car, and among the unresponded call signals that have been assigned but not yet responded, the number of call signals from passengers is the smallest or the farthest destination floor of the call signals from passengers is the closest to the floor where the charging robot is located;

[0014] Step A3, determining the charging elevator corresponding to the smaller of the smallest number of call signals in the upward elevators and the smallest number of call signals in the downward elevators as the fourth elevator, or determining the charging elevator corresponding to the closer of the charging elevator with the farthest destination floor of the call signals in the upward elevators closest to the floor where the charging robot is located and the charging elevator with the farthest destination floor of the call signals in the downward elevators closest to the floor where the charging robot is located as the fourth elevator.

[0015] Preferably, when there is no fourth elevator, the allocation method selects a fifth elevator from each charging elevator as the specific elevator; the fifth elevator refers to the charging elevator that is the closest to the floor where the robot to be charged is located among the destination floors of the passengers in the car after stopping at the floor where the robot to be charged is located and the destination floors of the passengers in the unresponded call signals that have been assigned but not yet responded.

[0016] Preferably, selecting the fifth elevator as the specific elevator includes the following steps:

[0017] Step B1, dividing each charging elevator into two groups: upward elevators and downward elevators;

[0018] Step B2, respectively determining, for the upward elevators and the downward elevators, the closest distance between the destination floors of the passengers in the car after stopping at the floor where the robot to be charged is located and the destination floors of the passengers in the unresponded call signals that have been assigned but not yet responded and the floor where the robot to be charged is located;

[0019] Step B3, determining the smaller of the closest distance corresponding to the upward elevators and the closest distance corresponding to the downward elevators as the fifth elevator.

[0020] Preferably, when there is no first elevator, the allocation method selects a sixth elevator from each charging elevator as the specific elevator; the sixth elevator refers to the charging elevator with the smaller sum of the number of passengers in the car or the number of destination floors of the passengers in the car and the number of call signals from the passengers in the unresponded call signals that have been assigned but not yet responded when arriving at the floor where the robot to be charged is located, or the charging elevator that is the closest to the floor where the robot to be charged is located among the farthest destination floors of the passengers in the car and the farthest destination floors of the call signals from the passengers in the unresponded call signals that have been assigned but not yet responded when arriving at the floor where the robot to be charged is located.

[0021] Preferably, when there is no third elevator, before selecting the fourth elevator from each charging elevator, the allocation method determines the first adverse impact on the passengers' elevator riding experience when converting at least one charging elevator into a third elevator, and the second adverse impact on the passengers' elevator riding experience when selecting the fourth elevator and using it as the specific elevator. When the first adverse impact is less than the second adverse impact, the charging elevator to be converted into a third elevator is used as the specific elevator; otherwise, the fourth elevator is used as the specific elevator.

[0022] Preferably, the charging request includes the latest start charging time of the robot; the allocation method converts the charging elevator into a third elevator by reassigning the passenger call signals originally assigned to non-third elevators to other charging elevators at a time not later than the latest start charging time.

[0023] Preferably, the charging request includes the latest start charging time of the robot; the allocation method estimates the passenger flow within the time interval from the current time to the latest start charging time, determines the probability of a specific elevator appearing according to the estimation result of the passenger flow, and when the probability is greater than the threshold, determines the specific elevator again after delaying for a first preset time by using the charging elevator allocation method for robot charging described in any one of claims 2 to 4, otherwise determines the specific elevator by using the charging elevator allocation method for robot charging described in any one of claims 5 to 10; the first preset time is such that the delayed time does not exceed the latest start charging time.

[0024] Preferably, the charging request includes the latest start charging time of the robot; when there is no third elevator, before selecting the fourth elevator from each charging elevator, the allocation method determines the length of the time interval from the current time to the latest start charging time, and when the length of the time interval is greater than the threshold, determines the existence of the third elevator again after delaying for a second preset time, and when the length of the time interval is less than the threshold, takes the fourth elevator as the specific elevator; the second preset time is such that the delayed time does not exceed the latest start charging time.

[0025] Preferably, after the robot to be charged enters the specific elevator and starts charging, the allocation method excludes the specific elevator from the selectable range of the response elevators of the passenger call signals.

[0026] Preferably, when a waiting elevator signal from a passenger is received after the robot to be charged enters the specific elevator and starts charging, the allocation method determines the first decline in the passenger elevator riding experience caused by excluding the specific elevator from the selectable range of the response elevators of the passenger call signals, and the decline in the riding experience of the passenger corresponding to the passenger waiting elevator signal when the passenger waiting elevator signal is assigned to the specific charging elevator compared to the second passenger elevator riding experience when it is assigned to a charging elevator without robot charging; when the first decline in the passenger elevator riding experience is less than the second decline in the passenger elevator riding experience, the specific charging elevator is excluded from the selectable range of the response elevators of the passenger call signals, otherwise the specific charging elevator is retained in the selectable range of the response elevators of the passenger call signals, and the specific charging elevator refers to the charging elevator where the robot is charging.

[0027] Beneficial technical effects

[0028] The present invention can provide in-car charging services for robots without (substantially) affecting the riding experience of passengers. Specific embodiments

[0030] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention. It should be noted that the specification and claims of the present invention are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence.

[0031] Embodiment 1

[0032] This embodiment provides a charging elevator allocation method for robot charging. The charging elevator refers to an elevator in which a charging device for providing charging services to robots is provided in the car. The allocation method selects one of the charging elevators as a specific elevator to charge the robot to be charged on the principle of minimizing the impact on passengers caused by the robot to be charged charging in the charging elevator.

[0033] When there is a charging elevator in an idle state, the allocation method uses the charging elevator in the idle state as the specific elevator; when there is no charging elevator in an idle state, the allocation method selects the first elevator from each charging elevator as the specific elevator; the first elevator refers to the charging elevator of the remaining floors to be stopped except the floor to be stopped where the charging request is generated, including the floor where the robot to be charged is located.

[0034] Embodiment 2

[0035] Based on Embodiment 1, this embodiment further defines and explains the situation when there is a first elevator.

[0036] When there are multiple first elevators, the allocation method selects the second elevator from each charging elevator as the specific elevator; the second elevator refers to the charging elevator in which there are no passengers to be transported or unresponded call signals that have been assigned but not yet responded in the car after stopping at the floor where the robot to be charged is located.

[0037] Further, when there is no second elevator, the allocation method selects the third elevator from each charging elevator as the specific elevator; the third elevator refers to the charging elevator in which there are no passengers to be transported in the car after stopping at the floor where the robot to be charged is located and all the unresponded call signals that have been assigned but not yet responded come from robots.

[0038] This embodiment avoids the charging robot and passengers being in the same elevator car by appropriately selecting the specific elevator, and thus can completely eliminate the adverse impact of the robot on the passenger elevator experience.

[0039] Embodiment 3

[0040] On the basis of Embodiment 2, this embodiment further defines and explains the situation when there is no third elevator.

[0041] When there is no third elevator, the allocation method selects a fourth elevator as the specific elevator from each charging elevator; the fourth elevator refers to the charging elevator that, after stopping at the floor where the robot to be charged is located, has no passengers to be transported in the car and has the smallest number of call signals from passengers or the farthest destination floor of the call signals from passengers among the call signals that have been assigned but not yet responded and is the closest to the floor where the robot to be charged is located.

[0042] Specifically, selecting the fourth elevator as the specific elevator includes the following steps:

[0043] Step A1, dividing each charging elevator into two groups: upward elevators and downward elevators;

[0044] Step A2, respectively determining, for the upward elevators and the downward elevators, the charging elevator that, after stopping at the floor where the robot to be charged is located, has no passengers to be transported in the car and has the smallest number of call signals from passengers or the farthest destination floor of the call signals from passengers among the call signals that have been assigned but not yet responded and is the closest to the floor where the robot to be charged is located;

[0045] Step A3, determining the charging elevator corresponding to the smaller of the smallest number of call signals in the upward elevators and the smallest number of call signals in the downward elevators as the fourth elevator, or determining the charging elevator corresponding to the closer of the charging elevator with the farthest destination floor of the call signals in the upward elevators from the floor where the robot to be charged is located and the charging elevator with the farthest destination floor of the call signals in the downward elevators from the floor where the robot to be charged is located as the fourth elevator.

[0046] The reason is that when the robot is charging, it only needs to enter the elevator car, and there is no limitation on the subsequent running direction of the elevator. Therefore, the charging request is treated as a special call signal that has no requirement for the running direction of the elevator.

[0047] Further, when there is no fourth elevator, the allocation method selects a fifth elevator as the specific elevator from each charging elevator; the fifth elevator refers to the charging elevator that, after stopping at the floor where the robot to be charged is located, has the destination floor of the passengers in the car and the destination floors of the call signals from passengers among the call signals that have been assigned but not yet responded and is the closest to the floor where the robot to be charged is located.

[0048] Specifically, selecting the fifth elevator as the specific elevator includes the following steps:

[0049] Step B1, dividing each charging elevator into two groups: upward elevators and downward elevators;

[0050] Step B2: After determining the floors where the charging robots are to be docked for the up and down elevators respectively, determine the nearest distances between the destination floors of the passengers in the carriages and the floors of the passengers in the unresponded call signals that have been assigned but not yet responded, where the floors of the passengers are the floors where the charging robots are located.

[0051] Step B3: Determine the smaller of the nearest distance corresponding to the up elevator and the nearest distance corresponding to the down elevator as the fifth elevator.

[0052] The reason is the same as when choosing the fourth elevator.

[0053] Embodiment 4

[0054] Based on Embodiment 1, this embodiment further defines and explains the situation when there is no first elevator.

[0055] When there is no first elevator, the allocation method selects the sixth elevator as the specific elevator from each charging elevator; the sixth elevator refers to the charging elevator with the smaller sum of the number of passengers in the carriage or the number of destination floors of the passengers in the carriage and the number of call signals from passengers in the unresponded call signals that have been assigned but not yet responded when reaching the floor where the charging robot is located, or the charging elevator with the nearest distance to the floor where the charging robot is located among the farthest destination floors of the passengers in the carriage and the farthest destination floors of the call signals from passengers in the unresponded call signals that have been assigned but not yet responded when reaching the floor where the charging robot is located.

[0056] Embodiment 5

[0057] Based on Embodiment 2, this embodiment further defines and explains the situation when there is no third elevator.

[0058] When there is no third elevator, before selecting the fourth elevator from each charging elevator, the allocation method determines the first adverse impact on the passengers' elevator riding experience when converting at least one charging elevator into a third elevator, and the second adverse impact on the passengers' elevator riding experience when selecting the fourth elevator and using it as the specific elevator. When the first adverse impact is less than the second adverse impact, the charging elevator to be converted into a third elevator is used as the specific elevator; otherwise, the fourth elevator is used as the specific elevator.

[0059] The charging request includes the latest start charging time of the robot; the allocation method converts the charging elevator into a third elevator by reassigning the call signals of the passengers originally assigned to non - third elevators to other charging elevators before the time not later than the latest start charging time.

[0060] Embodiment 6

[0061] Based on Embodiment 2, this embodiment further defines and explains the situation when there is no third elevator.

[0062] The charging request includes the latest start charging time of the robot; the allocation method estimates the passenger flow within the time interval from the current moment to the latest start charging time, determines the probability of the appearance of a specific elevator according to the estimation result of the passenger flow (the greater the passenger flow, the smaller the probability), and when the probability is greater than the threshold, after delaying for a first preset time, the charging elevator allocation method described in Embodiment 1 or 2 is used again to determine the specific elevator, otherwise the charging elevator allocation method described in Embodiment 3 or 4 is used to determine the specific elevator; the first preset time is such that the delayed moment does not exceed the latest start charging time.

[0063] Embodiment 7

[0064] Based on Embodiment 2, this embodiment further defines and explains the situation when there is no third elevator.

[0065] The charging request includes the latest start charging time of the robot; when there is no third elevator, before selecting the fourth elevator from each charging elevator, the allocation method determines the length of the time interval from the current moment to the latest start charging time, and when the length of the time interval is greater than the threshold, after delaying for a second preset time, it is determined again whether there is a third elevator, and when the length of the time interval is less than the threshold, the fourth elevator is used as the specific elevator; the second preset time is such that the delayed moment does not exceed the latest start charging time.

[0066] Embodiment 8

[0067] Based on any of the foregoing embodiments, this embodiment further defines and explains.

[0068] After the robot to be charged enters the specific elevator and starts charging, the allocation method excludes the specific elevator from the selectable range of the response elevators of the passenger call signal.

[0069] When the robot to be charged receives a waiting signal from a passenger after entering a specific elevator to start charging, the dispatching method determines a first decrease in the passenger elevator-riding experience caused by excluding the specific elevator from the selectable range of elevators responding to the passenger call signal, and a decrease in the elevator-riding experience of the passenger corresponding to the passenger waiting signal when the passenger waiting signal is assigned to the specific charging elevator compared to a second passenger elevator-riding experience when it is assigned to a charging elevator without robot charging; when the first decrease in the passenger elevator-riding experience is less than the second decrease in the passenger elevator-riding experience, the specific charging elevator is excluded from the selectable range of elevators responding to the passenger call signal, otherwise the specific charging elevator is retained in the selectable range of elevators responding to the passenger call signal, and the specific charging elevator refers to the charging elevator where the robot is charging.

Claims

1. A charging elevator allocation method for robot charging, where the charging elevator refers to an elevator with charging equipment for providing charging services to robots installed in the car, characterized in that The allocation method selects one of the charging elevators as a specific elevator to charge the robot to be charged, with the principle of minimizing the impact on passengers caused by the charging of the robot to be charged in the charging elevator.

2. The charging elevator deployment method for robot charging according to claim 1, wherein When there is a charging elevator in the idle state, the allocation method uses the charging elevator in the idle state as the specific elevator; When there is no charging elevator in the idle state, the allocation method selects the first elevator as the specific elevator from all the charging elevators; the first elevator refers to the charging elevator that includes the floor where the robot to be charged is located among the remaining floors to be stopped except for the floor to be stopped generated by this charging request.

3. The charging elevator deployment method for robot charging according to claim 2, wherein When there are multiple first elevators, the allocation method selects the second elevator as the specific elevator from all the charging elevators; the second elevator refers to the charging elevator in which there are no passengers to be transported to be transported in the car and no unresponded call signals that have been assigned but not yet responded after stopping at the floor where the robot to be charged is located.

4. The charging elevator deployment method for robot charging according to claim 3, wherein When there is no second elevator, the allocation method selects the third elevator as the specific elevator from all the charging elevators; the third elevator refers to the charging elevator in which there are no passengers to be transported to be transported in the car and all the unresponded call signals that have been assigned but not yet responded after stopping at the floor where the robot to be charged is located come from the robot.

5. The charging elevator allocation method for robot charging according to claim 4, wherein When there is no third elevator, the allocation method selects the fourth elevator as the specific elevator from all the charging elevators; the fourth elevator refers to the charging elevator in which there are no passengers to be transported to be transported in the car and among the unresponded call signals that have been assigned but not yet responded, the number of call signals from passengers is the smallest or the farthest destination floor of the call signals from passengers is the closest to the floor where the robot to be charged is located.

6. The charging elevator deployment method for robot charging according to claim 5, wherein, Selecting the fourth elevator as the specific elevator includes the following steps: Step A1, dividing each charging elevator into two groups: upward elevators and downward elevators; Step A2, respectively determining, for the upward elevators and downward elevators, the charging elevator in which there are no passengers to be transported to be transported in the car and among the unresponded call signals that have been assigned but not yet responded, the number of call signals from passengers is the smallest or the farthest destination floor of the call signals from passengers is the closest to the floor where the robot to be charged is located after stopping at the floor where the robot to be charged is located; Step A3, determining the charging elevator corresponding to the smaller of the smallest number of call signals in the upward elevators and the smallest number of call signals in the downward elevators as the fourth elevator, or determining the charging elevator corresponding to the closer of the charging elevator with the farthest destination floor of the call signals in the upward elevators closest to the floor where the robot to be charged is located and the charging elevator with the farthest destination floor of the call signals in the downward elevators closest to the floor where the robot to be charged is located as the fourth elevator.

7. The charging elevator allocation method for robot charging according to claim 5, wherein, When there is no fourth elevator, the allocation method selects the fifth elevator as the specific elevator from all the charging elevators; the fifth elevator refers to the charging elevator in which the destination floor of the passengers in the car and the destination floors of the unresponded call signals that have been assigned but not yet responded and come from passengers are the closest to the floor where the robot to be charged is located after stopping at the floor where the robot to be charged is located.

8. The charging elevator allocation method for robot charging according to claim 7, characterized in that, Selecting the fifth elevator as the specific elevator includes the following steps: Step B1: Divide each charging elevator into two groups: upward elevators and downward elevators; Step B2: After determining the floors where the charging robots to be docked are located for upward elevators and downward elevators respectively, determine the nearest distances between the destination floors of the passengers in the carriages and the floors of the passengers' destination in the unresponded call signals that have been assigned but not yet responded to the charging robots; Step B3: Determine the fifth elevator as the smaller value among the nearest distance corresponding to the upward elevator and the nearest distance corresponding to the downward elevator; 9. The charging elevator deployment method for robot charging according to claim 2, characterized in that, When there is no first elevator, the allocation method selects the sixth elevator as the specific elevator from each charging elevator; the sixth elevator refers to the charging elevator with the smaller sum of the number of passengers in the carriage or the number of destination floors of the passengers in the carriage and the number of call signals from passengers in the unresponded call signals that have been assigned but not yet responded when reaching the floor where the charging robot is located, or the charging elevator with the nearest distance between the farthest destination floor of the passengers in the carriage when reaching the floor where the charging robot is located and the farthest destination floor of the call signals from passengers in the unresponded call signals that have been assigned but not yet responded to the floor where the charging robot is located; 10. The charging elevator deployment method for robot charging according to claim 5, characterized in that, When there is no third elevator, before selecting the fourth elevator from each charging elevator, the allocation method determines the first adverse impact on the passengers' elevator riding experience when converting at least one charging elevator into a third elevator, and the second adverse impact on the passengers' elevator riding experience when selecting the fourth elevator and using it as the specific elevator. When the first adverse impact is less than the second adverse impact, the charging elevator to be converted into a third elevator is used as the specific elevator, otherwise the fourth elevator is used as the specific elevator; 11. The charging elevator deployment method for robot charging according to claim 10, characterized in that, The charging request includes the latest start charging time of the robot; the allocation method converts the charging elevator into a third elevator by reallocating the passenger call signals originally assigned to non-third elevators to other charging elevators before the latest start charging time; 12. The charging elevator allocation method for robot charging according to claim 4, wherein, The charging request includes the latest start charging time of the robot; the allocation method estimates the passenger flow during the time interval from the current time to the latest start charging time, determines the probability of the appearance of the specific elevator according to the estimation result of the passenger flow. When the probability is greater than the threshold, after delaying the first preset time, the charging elevator allocation method for robot charging described in any one of claims 2 to 4 is used again to determine the specific elevator, otherwise the charging elevator allocation method for robot charging described in any one of claims 5 to 10 is used to determine the specific elevator; the first preset time is such that the delayed time does not exceed the latest start charging time; 13. The charging elevator allocation method for robot charging according to claim 5, characterized in that, The charging request includes the latest start charging time of the robot; when there is no third elevator, before selecting the fourth elevator from each charging elevator, the allocation method determines the length of the time interval from the current time to the latest start charging time, and when the length of the time interval is greater than the threshold, after delaying the second preset time, it is determined again whether there is a third elevator, and when the length of the time interval is less than the threshold, the fourth elevator is used as the specific elevator; The second preset time is such that the delayed time does not exceed the latest start charging time.

14. The charging elevator deployment method for robot charging according to claim 2, wherein, After the charging robot to be charged enters a specific elevator and starts charging, the specific elevator is excluded from the selectable range of the elevators responding to the passenger call signals.

15. The charging elevator allocation method for robot charging according to claim 2, wherein When a waiting elevator signal from a passenger is received after the charging robot to be charged enters a specific elevator and starts charging, the deployment method determines a first decrease in the passenger elevator riding experience caused by excluding the specific elevator from the selectable range of the elevators responding to the passenger call signals, and a decrease in the elevator riding experience of the passenger corresponding to the passenger waiting elevator signal when the passenger waiting elevator signal is assigned to the specific charging elevator compared to a second passenger elevator riding experience when it is assigned to a charging elevator without a robot charging; when the first decrease in the passenger elevator riding experience is less than the second decrease in the passenger elevator riding experience, the specific charging elevator is excluded from the selectable range of the elevators responding to the passenger call signals, otherwise the specific charging elevator is retained in the selectable range of the elevators responding to the passenger call signals, and the specific charging elevator refers to the charging elevator where the robot is charging.