Elevator system with robotic control for dynamic car loading

Abstract

In a building having an elevator system (1) and at least one mobile robot (2), the elevator system (1) can request the at least one mobile robot (2) as an additional load of an elevator car (10) when required. A counterweight unit (18) connected to the elevator car (10) via a support cable arrangement (16) has a weight which is smaller by a defined percentage than the sum of the weight of the elevator car (10) and the weight of the payload which can be accommodated. In particular, this requirement exists for the case that the elevator car (10) is running empty in a downward direction.

Description

Technical Field

[0001] The technology described herein generally relates to elevator systems in buildings. Embodiments of this technology particularly relate to elevator systems in buildings in which at least one mobile robot is capable of horizontal and vertical movement, and to a method for operating such an elevator system. Background Technology

[0002] Depending on the building and its purpose, the tasks and services performed can be automated. Mobile robots can be used to perform tasks such as delivery services within a building (e.g., food, mail, medicine) and cleaning duties. To perform services and complete tasks, mobile robots can be transported between floors of a building via elevator systems. For example, WO 2021 / 180907 A1 describes an elevator system that can transport mobile robots with priority based on its own presence or the presence of its cargo.

[0003] Different efficiency requirements may exist for buildings; for example, buildings should operate energy-efficiently, and people should be able to move comfortably and without delay. In addition to other installations within the building, elevator systems can contribute to meeting energy efficiency and transport efficiency requirements in various ways, especially when mobile robots are present in the building. Therefore, in buildings with elevator systems and at least one mobile robot, there is a need for a technology that can improve the energy efficiency of the elevator system without negatively impacting transport efficiency. Summary of the Invention

[0004] One aspect of the technology described herein relates to an elevator system in a building, in which a mobile robot designed to use the elevator system is present. The elevator system includes an elevator controller, an elevator car, a counterweight unit, a load detection unit, an elevator operating device, and a communication interface device. The elevator car, suspended from a support cable assembly, is capable of moving between floors of the building under the control of the elevator controller and has a permissible payload. The counterweight unit, suspended from the support cable assembly and thereby connected to the elevator car, has a weight that is less than the sum of the permissible payload and the weight of the elevator car by a specified percentage. The load detection unit is communicatively connected to the elevator controller and configured to determine the load level of the elevator car. The elevator operating device is communicatively connected to the elevator controller. The communication interface device is communicatively connected to the elevator controller and configured to send a first robot request message to a robot controller. The elevator controller is configured to determine a control signal for moving the elevator car from a starting floor to a destination floor and to generate the first robot request message when an empty elevator trip in the downward direction is to be performed to move the elevator car. Upon receiving a first robot request message, the elevator controller requests the mobile robot to enter the elevator car at the starting floor to increase the payload within the elevator car. The payload in the elevator car is less than the allowable payload. The elevator controller is configured to initiate a journey from the starting floor to the destination floor upon entry.

[0005] Another aspect of this technology relates to a method for operating an elevator system. According to this method, an elevator controller determines control signals for moving an elevator car, the travel distance and direction of travel of the elevator car from the starting floor to the ending floor, and determines the load level of the elevator car via a load detection unit. If, based on the determined load, the travel distance is substantially an unloaded travel distance in the downward direction, the elevator controller generates a first robot request message. The first robot request message requests a mobile robot to enter the elevator car at the starting floor to increase the payload in the elevator car, which is less than the allowable payload. A communication interface device sends the first robot request message to the robot controller. According to this method, when the load detection unit detects that the mobile robot is in the elevator car, the elevator car also moves according to the control signals.

[0006] The technology described herein creates an elevator system with improved energy efficiency without negatively impacting the system's transport efficiency. This is supported by the fact that the elevator system can request additional loading of the elevator car by a robot when needed. For example, this demand arises when the elevator car needs to travel downwards and is not loaded with people or goods; this travel is called an empty trip. Because the weight of the counterweight unit is a specified percentage less than the sum of the allowable payload and the elevator car's weight, the unloaded elevator car is significantly lighter than the counterweight unit, allowing the counterweight unit to pull the empty elevator car upwards without the support of the drive unit. Unlike the empty trip in the upward direction, the empty trip in the downward direction requires electrical energy, making it energy-inefficient. Therefore, the elevator controller is configured to generate a robot request message when an empty trip in the downward direction is needed and additional loading by at least one robot is energy-efficient. Additional loading by at least one robot enables the elevator car to be heavier than the counterweight unit, thus requiring less electrical energy to move the elevator car.

[0007] Depending on the building, multiple robots may exist, distributed across various floors. Depending on the robot and the service it performs, the robot may need to travel up or down within the elevator system. Given the number of robots, at any given moment, there is a relatively high probability that a robot on an upper floor needs to travel downwards (immediately, within a time window, or at a specific time), or is inactive on that floor and can be transported to a lower floor. The techniques described herein utilize these robots to increase the load on the elevator car when needed, particularly during downward travel.

[0008] In one embodiment applicable in conjunction with one of the embodiments disclosed herein, the elevator controller is configured to determine a control signal in response to an elevator call entered at a call input floor or an activation signal generated by a maintenance software routine of the elevator system. This control routine may, for example, control the elevator system so that the elevator car moves at certain times (e.g., at night) or periodically, independent of elevator calls, for example to avoid jamming or other damage due to prolonged inactivity. Depending on the building, the control routine may, for example, be configured to cause all or a specified number of elevator cars to move at night to the entrance floor located at the building entrance height, so that the elevator cars are ready for upward travel at the start of morning office hours and during peak passenger flow. Therefore, the travel initiated by the control routine may also include an empty travel in the downward direction. The techniques described herein can be used both for empty travel required when calling the elevator and for empty travel initiated by an activation signal.

[0009] In one embodiment applicable in conjunction with one of the embodiments disclosed herein, the elevator controller is configured to query a load detection unit after the elevator car has been loaded to determine control signals for moving the elevator car. The load detection unit is configured to determine the load on the elevator car. Advantageously, in this case, the load detection unit or its function can be implemented in different ways. For example, a load measuring device already provided in the elevator system can be used, or an optical measuring device (e.g., a video device) can be installed.

[0010] In one embodiment applicable in conjunction with one of the embodiments disclosed herein, the elevator controller is configured to generate a second robot request message when the transportation cost along the upward travel distance is less than a threshold. The elevator controller uses the second robot request message to request a mobile robot to enter the elevator car at a floor where the elevator car is in standby mode. A communication interface device is configured to send the second robot request message to the robot controller. Depending on the building and the number of available robots, the technology described herein enables the transportation of robots to upper floors, ensuring that robots are available on upper floors (or multiple upper floors) when needed. This transportation is carried out when the transportation cost is less than the threshold.

[0011] In one embodiment applicable in conjunction with one of the embodiments disclosed herein, the elevator controller is configured to determine the transportation cost as a function of the energy cost, with a threshold representing the peak electricity price for the energy cost per unit of energy, specified by the energy supply company. Depending on the energy supply company, the energy cost per unit (e.g., per kilowatt-hour, kWh) can be calculated using either a peak or off-peak electricity price. In this case, the off-peak price typically applies during times of lower electricity demand (e.g., at night). The techniques described herein allow the robot to be transported upwards when peak electricity prices are not applicable and are therefore "cheap."

[0012] In one embodiment applicable in conjunction with one of the embodiments disclosed herein, the communication interface device is configured to receive a status signal from the robot controller in response to a second robot request message. This status signal indicates whether the mobile robot is available at the initial floor where the elevator car is in standby mode. If the mobile robot is available, the elevator controller is configured to actuate the elevator car doors to open them, detect entry via a load detection unit, and move the elevator car carrying the mobile robot to a floor. If the mobile robot is unavailable, the elevator controller is configured to keep the elevator car in standby mode. Communication between the mobile robot and the elevator system, particularly the status signal, enables the elevator system to identify whether it is available for an upward trip. Based on this, the elevator system decides whether to perform an upward trip utilizing the mobile robot.

[0013] In one embodiment applicable in conjunction with one of the embodiments disclosed herein, the communication interface device is configured to receive a status signal from the robot controller in response to a first robot request message, the status signal indicating whether the mobile robot is available at the starting floor. If the mobile robot is available, the elevator controller is configured to actuate the elevator car to open its car door at the starting floor, detect entry via a load detection unit, and move the elevator car carrying the mobile robot according to a control signal. If the mobile robot is unavailable, the elevator controller is configured to move the elevator car according to a control signal. Communication between the mobile robot and the elevator system, particularly the status signal, enables the elevator system to identify whether it is available for the downward travel. Based on this, the elevator system decides whether the downward travel is performed using or not using the mobile robot.

[0014] In one embodiment applicable in conjunction with one of the embodiments disclosed herein, the elevator controller is configured to generate a robot release message, the communication interface device is configured to send the robot release message to the robot controller, and the elevator controller uses the release message to request the mobile robot to leave the elevator car. Using the techniques described herein, the elevator controller can determine on which floor the mobile robot should leave the elevator car. This floor can be the destination floor or a floor located between the starting and destination floors, for example, because a person entered an elevator call on that floor and the elevator car stops there, and the interior requires space for personnel. Attached Figure Description

[0015] The various aspects of the improved technology are described in more detail below with reference to the accompanying drawings and embodiments. In the drawings, the same elements have the same reference numerals. In the drawings:

[0016] Figure 1 An exemplary schematic diagram of an elevator system in a building with multiple floors and a mobile robot is shown; and

[0017] Figure 2 An illustration of one embodiment of a method for operating the elevator system is shown as an example. Detailed Implementation

[0018] Figure 1An exemplary schematic diagram of an elevator system 1 is shown, which includes an elevator controller 12 (EC), a counterweight unit 18, a drive motor 14 (M), and a support cable assembly 16 (e.g., including wire ropes or flat straps). The elevator system 1 is installed in a building with multiple floors L1, L2, L3, on which at least one mobile robot 2 (hereinafter also referred to as "robot 2") can move independently. The building can be any type of multi-story building (e.g., residential building, hotel, office building, sports center, or a building combining one or more of the above building types or their usage types). Furthermore, the elevator system 1 can be installed on a ship.

[0019] Elevator system 1 serves floors L1, L2, and L3. If a person 8 on floor L1, L2, or L3 enters an elevator call at elevator operating device 4, elevator controller 12 first controls elevator system 1 to allow the person 8 on that floor (entrance floor) to enter elevator car 10. Elevator car 10 may already be ready at the entrance floor, so only the car door and shaft door need to be opened, or it may be necessary to move the elevator car to the entrance floor first. Then, elevator car 10 moves from the entrance floor to the destination floor. Other details of elevator system 1 are disclosed in other parts of this specification.

[0020] Figure 1 The diagram illustrates that multiple robots 2 can exist within a building. For illustrative purposes, the robots 2 are shown in different embodiments, for example, their construction may mimic the basic structure of a human form (humanoid robot) or a vehicle / car. In one embodiment, each mobile robot 2 is configured to perform a service within the building, such as a delivery service, waste disposal service, cleaning service, or a combination of these exemplary services. To perform this service, the robot 2 can move horizontally on a floor L1, L2, L3; if performing the service requires changing floors L1, L2, L3, the robot 2 can make this request via elevator system 1. In one embodiment, the transport request is sent to elevator system 1, which processes the robot 2's transport request similarly to an elevator call by a person 8. The processing of elevator calls is known to those skilled in the art and is described exemplarily below.

[0021] Mobile robot 2 and its services can be independent of elevator system 1 and, consequently, independent of its operation. In one embodiment, a service provider (e.g., a building management company or the manufacturer / supplier of robot 2) provides mobile robot 2 within the building. Multiple mobile robots 2 can operate independently of each other, or alternatively, they can form a robot system controlled by a central robot control unit 20. When programmed and / or controlled accordingly, robot 2 can perform its services substantially autonomously; for this purpose, robot 2 has, for example, a power source (rechargeable battery module) and navigation capabilities, such as utilizing a global navigation system (e.g., GPS) and / or a building navigation system incorporating stored building floor plans (e.g., location data (coordinates, distances) of possible targets within the building). For robot 2, a charging station can be located at a designated location (base station) where the battery module can be charged. Robot 2 can, for example, independently return to the base station to recharge the battery module and / or return after completing its service.

[0022] For example, a cleaning robot can be programmed to clean one or more floors L1, L2, L3 at specified times or to periodically clean hotel rooms. In a hotel, a delivery robot can be delegated / controlled by the hotel front desk to deliver items (such as food and beverages) to hotel guests in their rooms. When assigning tasks, it can be specified when to perform the service for robot 2 (e.g., depending on the flow of people in the building or the type of delivery); for example, food delivery should generally be performed quickly, while waste disposal can wait (possibly until nighttime when there is little or no foot traffic in the building). Depending on its design, robot 2 can return to its base station or remain at a different location after completing its service.

[0023] Those skilled in the art will recognize that the robot 2 (each free robot 2 is controlled by a control unit 20a (hereinafter also referred to as the (internal) robot control unit 20a)) Figure 1The robot 2 (labeled "µP") may be located in different positions within the building and be in different operating states over time. In an active operating state, the robot 2 may be performing services, and therefore may be unavailable during this period. If the robot 2 is inactive, it may be ready at a location where it can perform services (e.g., at a base station), or it may be unavailable due to a malfunction (e.g., mechanical problems or low battery). Data related to these (current or past) locations and operating states can be centrally managed and stored inside or outside the building, for example, in a central robot control unit 20 within the building, in the form of a digital log containing robot-specific data entries and associated time information (e.g., date, time). Therefore, the central robot control unit 20 can determine where the robot 2 is located and what operating state it is in at a given time. Alternatively or additionally, in another embodiment, each robot 2, under the control of its (internal) robot control unit 20a, may store its own digital log in its internal storage and, when needed (e.g., upon receiving a service request), transmit its current state data to the sender of the service request (e.g., the central robot control unit 20 or the hotel front desk).

[0024] In one embodiment, each robot 2 is based on a commercially available robot structure or technology, such as that from ST Engineering Aethon, Inc., USA. Such a robot 2 typically includes a power source (e.g., a rechargeable battery module), specific drive technology (e.g., an electric motor combined with a set of drive wheels), sensors (e.g., IR, radar, or optical camera sensors), communication interface devices (e.g., a touchscreen and / or a radio for manual or non-contact programming and order / target input at or remotely to the robot 2), a navigation device, and one or more actuators for gripping arms or tools and / or one or more containers for receiving and transporting items according to a specified payload, depending on the intended use. The general operation of the robot 2, such as programming, order input, and navigation, is known to those skilled in the art of mobile robotics.

[0025] Depending on the manufacturer, size, and intended use, the mobile robot 2 can have a weight of tens of kilograms (empty weight); for example, the empty weight can be between approximately 50 kilograms and approximately 70 kilograms. Therefore, the weight of the unloaded robot 2 is approximately slightly less than the weight of an average person 8. The loaded robot 2, depending on its intended use, can weigh up to several hundred kilograms, thus corresponding to, for example, the weight of 3-4 people 8. The empty weight of the robot 2 can be stored in its storage device, and may also be stored in the elevator system 1. If the internal robot control unit 20a causes the robot 2 to send a status signal, information about its current weight (empty weight or total weight) can be included in the status signal. According to this embodiment, the central robot control unit 20 can store information about the current weight of the robot 8.

[0026] In one embodiment, a separate communication system can be provided for the robot system within the building. This communication system enables communication between the central robot control unit 20 and the individual robots 2. In one embodiment, such as Figure 1 As shown, the communication system includes multiple radio devices 28 arranged on floors L1, L2, and L3 and communicatively connected to a central robot control unit 20. Robot 2 is equipped with appropriate radio devices enabling communication via radio, such as according to WiFi / WLAN or Bluetooth communication standards. If robot 2 is within radio range of the radio devices 28 on floors L1, L2, and L3, robot 2 can, for example, send status signals to and receive control signals from the central robot control unit 20, such as robot request messages. The status signals allow robot 2 to register its presence on floors L1, L2, and L3, for example, through the central robot control unit 20.

[0027] exist Figure 1 In the elevator system 1 shown, the counterweight unit 18 is connected to the elevator car 10 via a support cable assembly 16, which is guided around the traction sheave. The traction sheave is driven by a drive motor 14, the load to be moved by which the drive motor 14 is determined by the difference between the weight of the elevator car 10 (including passengers and / or cargo) and the weight of the counterweight unit 18. Typically, the counterweight unit 18 balances (compensates) approximately 50% of the permissible load plus the car weight. The compensation can also be lower, for example, less than 30% or 40%. At 50% compensation, the maximum load to be moved by the drive motor 14 is 50% of the permissible load. This occurs when the elevator car 10 is either loaded to its maximum capacity, making the elevator car 10 heavier than the counterweight unit 18, or the elevator car 10 is completely unloaded, making the counterweight unit 18 heavier than the elevator car 10 and capable of pulling the elevator car 10 upwards solely by its potential energy (with the stop brake released).

[0028] The loading of the elevator car 10 can be performed by the load detection unit 11. Figure 1 In the illustrated embodiment, the load detection unit 11 may include a load measuring device (represented by the symbol for a scale) and / or a camera device (represented by the symbol for a camera). The load detection unit 11 determines a measure of the load level of the elevator car 10, which can be used by the elevator controller 12. This measure covers a range between the minimum load (e.g., the elevator car 10 empty) and the maximum load (e.g., the elevator car 10 fully loaded (maximum number of people or (maximum) permissible payload)). The load measuring device may, for example, determine the load in the elevator car 10; this can be used to infer the number of people. The elevator car 10 is typically equipped with a load measuring device that, for example, detects a load exceeding the permissible payload and generates a warning signal. For example, a camera device may be used to count the people 8 (or objects) in the elevator car 10. At least one known measurement principle may be implemented in the camera device, for example, categorized by optical range (visible light, infrared) or evaluation method (e.g., 3D camera). Those skilled in the art will recognize that various methods are available for determining the load, and the functionality of the load detection unit 11 may be implemented, in whole or in part, in the elevator controller 12.

[0029] Elevator system 1 can be equipped with known control technology, direction control technology, or destination call control technology. For direction control technology, the elevator operating device 4 can be equipped with up / down buttons, allowing personnel 8 on floors L1, L2, and L3 to input their desired direction of travel. For destination call control technology, the elevator operating device 4 can, for example, have a keyboard or touchscreen (both with floor buttons), allowing personnel 8 on floors L1, L2, and L3 to input their desired destination floor. When the direction of travel or destination floor is input, an elevator call is registered (if it's an up / down button, it's a direction call; otherwise, it's a destination call). Furthermore, personnel 8 can initiate an elevator call using a suitably designed mobile radio device 4a; Figure 1 In this elevator, a person 8 on floor L1 has a mobile radio device 4a. The mobile radio device 4a is equipped with, for example, a software application (app) for elevator operation, which generates a graphical user interface displayed by the mobile radio device 4a to enable interaction between the person 8 and the mobile radio device 4a.

[0030] Having understood the basic system components and functions of the elevator system 1 described above, the following refers to... Figure 2 For operation Figure 1 An exemplary method of the elevator system 1 shown will be described. Figure 2A flowchart of the method is shown as an example; the method begins at step S1 and ends at step S9. Those skilled in the art will recognize that the division into these steps is exemplary, and one or more of these steps may be divided into one or more sub-steps, and multiple steps may be combined into one step, or other steps may also exist.

[0031] This method refers to Figure 1 The scenario in the illustrated building is described, in which multiple robots 2 are present and distributed across floors L1, L2, and L3. Those skilled in the art will recognize that embodiments of the methods described herein are not limited to the multiple robots 2 shown, but may also be described using fewer robots or a single robot 2. The elevator system 1 may be equipped with destination call control technology or direction control technology. Elevator calls can be made by personnel 8 at the elevator operating device 4 or via a mobile radio device 4a. The counterweight unit 18 compensates for approximately 50% of both the permissible payload and the car weight.

[0032] This description is given exemplarily based on a received elevator call. In another embodiment, an activation signal for generating a control routine for elevator system 1 may be received. The control routine can control elevator system 1 such that elevator cars 10 move independently of elevator calls at certain times (e.g., at night) or periodically. This can be configured in elevator system 1 to avoid jamming, deformation, such as deformation of the support cable assembly 16, or other damage that might occur if elevator system 1 remains stationary for an extended period. Depending on the building, the control routine may be configured to cause all or a specified number of elevator cars 10 to move to the floor where the building's main entrance is located at night. This allows ensuring that as many elevator cars 10 as possible are available for upward travel at the start of morning office hours and during peak periods. A similar configuration can also be provided for floors at the end of the event. Therefore, the travel initiated by the control routine may also include unloaded travel in the downward direction.

[0033] Each robot 2 has a unique identifier, allowing control signals and / or robot request messages to be individually addressed and sent to the robot 2. Depending on the design of the robot 2, the identifier may also be included in the status signals sent by the robot 2. The central robot control unit 20 can thus identify which robot 2 is sending the status signal. Within a building, one or more robots 2 may be in standby mode at any given time, during which they do not move but are in principle available to perform services. One or more robots 2 may also be in active mode, during which they are moving and / or performing one or more services, and therefore may not be available for further allocation at that time. Depending on the design of the robot 2, the robot 2 may send its status according to specified rules (e.g., periodically) or in response to robot request messages. In one embodiment, the robot 2 sends its status information along with location data (e.g., standby mode, floor, target), and the central robot control unit stores the status information and location data of each robot 2 as data records in a storage device. The central robot control unit 20 can thus determine, for example, whether a robot 2 is available and in what location.

[0034] In step S2, an elevator call is received. For example, person 8 enters an elevator call at elevator operating device 4. In one embodiment, elevator controller 12 receives the elevator call from elevator operating device 4 via communication network 6, either as a point-to-point connection or through the network address of elevator operating device 4. The location (floor) of elevator operating device 4 is determined from the elevator calls received in this manner, thereby determining the floors L1, L2, and L3 where person 8 entered the elevator call. These floors L1, L2, and L3 can be referred to as the call input floors. If destination call control technology is implemented, the elevator call can also specify the destination floor desired by person 8.

[0035] In step S3, the direction of travel, the load level of the elevator car 10, the starting floor, and the ending floor are determined. When the elevator controller receives an elevator call, the elevator controller 12 determines which elevator car 10 to operate the call for. If the elevator system 1 has multiple elevator cars 10, the elevator call is assigned to one of the elevator cars 10; otherwise, it is assigned to another elevator car 10. Figure 1 Only one elevator car 10 is shown. Exemplary methods for assigning elevator calls to elevator car 10 in conjunction with destination call control technology are known to those skilled in the art and are briefly described in other parts of this specification.

[0036] The assigned elevator car 10 may already be located at the call input floor. In this case, the control elevator car 10 opens its doors. Personnel 8 can then enter, and the elevator car 10 will move according to the elevator call (destination call) or the destination floor entered in the elevator car 10. Otherwise, the elevator car 10 must first be moved to the call input floor, for example, because it is in standby mode on another floor L1, L2, L3 (stopping floors). For this trip of the elevator car 10, the control device 12 determines the stopping floor as the starting floor and the call input floor as the destination floor. In this case, there are usually no personnel 8 in the (empty) elevator car 10. The elevator controller 12 determines such an empty elevator car 10 via the load detection unit 11. Therefore, moving the empty elevator car 10 to the destination floor includes an empty trip.

[0037] The empty elevator car 10 is actually lighter than the counterweight unit 18. As mentioned above, the weight of the counterweight unit 18 is a specified percentage less than the sum of the allowable payload and the weight of the elevator car 10. Therefore, the counterweight unit 18 can, for example, pull the empty elevator car 10 upward without the support of the drive unit 14. Conversely, if the call input floor is below the starting floor, the empty elevator car 10 needs to overcome the weight of the counterweight unit 18 to move downward with the support of the drive unit 14. This no-load travel requires electrical energy, and therefore is disadvantageous from an energy perspective.

[0038] In step S4, it is determined whether the elevator car 10 identified for the call operation is empty and whether the journey from the starting floor to the ending floor is a downward journey. For this purpose, the elevator controller 12 uses the results determined in step S3. If both conditions are met, the method proceeds to step S5 along the Yes (YES) branch; otherwise, it proceeds to step S8 along the No (NO) branch. In step S8, the elevator car 10 is then moved according to the elevator call; for example, it may move upwards if it is empty or occupied by at least one person 8, or downwards if it is not empty.

[0039] In step S5, a (first) robot request message is generated. The elevator controller 12 is configured to generate the robot request message when operating an elevator call includes an empty trip in the downward direction (see step S4) and it is energy-efficient to perform additional loading via at least one robot 2. In one embodiment, the robot request message specifies when and on which floors L1, L2, L3 one or more robots 2, or a corresponding payload with maximum weight, is needed. Additional loading via at least one robot 2 allows the elevator car 10, carrying at least one robot 2, to be heavier than the counterweight unit 18, thereby requiring less electrical energy to move the elevator car 10.

[0040] In step S6, the robot request message generated in step S5 is sent to the robot controller. According to the robot system design, the elevator controller 12 can send the robot request message to the central robot control unit 20, which, for example, checks whether a robot 2 is available on the starting floor based on the robot request message using stored status information. If at least one robot 2 is available on the starting floor, the central robot control unit can control the available robot 2 to enter the elevator car 10 that is ready to be entered (or will be ready at a specific time). Alternatively, the elevator controller 12 can send the robot request message on the starting floor. If a robot 2 is available there, the robot controller 20a of the available robot 2 can respond and control the robot 2 to enter the elevator car 10 that is ready to be entered.

[0041] In step S7, it is checked whether robot 2 is in elevator car 10. This can be identified by load detection unit 11 or by communication between robot 2 and elevator controller 12 or central robot control unit 20. Those skilled in the art will recognize that load detection unit 11 will also issue a warning when an allowable effective load is reached. If robot 2 is in elevator car 10, the method proceeds to step S8 along the yes (YES) branch; otherwise, it waits until that condition is met (looping along the no (NO) branch). In step S8, elevator car 10, carrying at least one robot 2, is then moved downwards to the final floor. There, robot 2 or more robots 2 can leave elevator car 10 to make room for personnel 8.

[0042] In one embodiment, elevator controller 12 is configured to generate a robot release message, which is sent by communication interface device 30 to robot controller 20 (or 20a). Elevator controller 12 requests the mobile robot 2 to leave elevator car 10 via the release message. Using the techniques described herein, elevator controller 12 can determine on which floor the mobile robot 2 should leave elevator car 10. This floor can be the destination floor or a floor between the starting and destination floors, for example, because person 8 entered an elevator call on that floor and elevator car 10 stops there, and interior space is needed for person 8. If elevator car 10 continues its downward journey after stopping (e.g., if the elevator call received in step S2 is a destination call), robot 2 can remain in elevator car 10 if this is energy-efficient and the current payload allows. The method ends in step S9.

[0043] In one embodiment, the mobile robot 2 can be used for another purpose within a building; this purpose can be combined with... Figure 2To supplement the described uses, elevator controller 12 can be configured to generate a second robot request message when the transportation cost along the upward direction is less than a threshold. Through the second robot request message, elevator controller 12 requests mobile robot 2 to enter elevator car 10 at floors L1, L2, L3 where elevator car 10 is in standby mode. Communication interface device 30 is configured to send the second robot request message to robot controller 20 (or 20a). Depending on the building and the number of available robots 2, the technology described herein enables the transportation of one or more robots 2 to upper floors to ensure that robots 2 are also available on upper floors (or multiple upper floors) when needed.

[0044] The transport is carried out when the transport cost is less than a threshold. In this embodiment, the elevator controller 12 determines the transport cost as a function of energy cost. Energy cost includes the cost per unit (e.g., per kilowatt-hour, kWh) of electrical energy. The energy supply company supplying electricity to the building specifies the price (electricity price) per unit of energy supplied, such as a peak price or an off-peak price; a normal price in between may also be specified. In this case, the off-peak price typically applies during times of lower electricity demand (e.g., at night). Conversely, the peak price applies when demand is high. With the techniques described herein, the robot 2 can be transported upwards when the peak price is not applied and is therefore "cheap".

[0045] The communication interface device 30 is configured to receive a status signal from the robot controller 20 (or 20a) in response to a second robot request message. This status signal indicates whether the mobile robot 2 is available at the starting floor when the elevator car 10 is in standby mode. If the robot 2 is available, the elevator controller 12 is configured to control the elevator car 10 to open the car door, detect entry via the load detection unit 11, and then move the elevator car 10, which then carries the mobile robot 2, to the next floor. However, if the mobile robot 2 is unavailable, the elevator controller 12 is configured to keep the elevator car 10 in standby mode.

[0046] Figure 1 Further details of the elevator system 1 shown are as follows.

[0047] Elevator controller 12 includes components (e.g., computer, processor, storage device) and associated control and computer programs that perform the functions and / or participate in their performance. Those skilled in the art will recognize that, for example, one or more functions of the destination call controller may be in or performed by one or more elevator operating devices 4. The destination call controller performs an allocation procedure, the principles of which are described, for example, in the following publication: Koehler, Jana, et al., An AI-Based Approach to Destination Control in Elevators, AI Magazine, Vol. 23, No.3, 2002, pp. 59-78. Upon receiving a destination call identifying the input floor and destination floor, the allocation procedure uses a so-called job manager to calculate a “cost” and apply one or more cost functions to determine which elevator, from the “quotes” of elevators capable of serving the elevator call, can best, i.e. most economically, serve that elevator call.

[0048] Communication network 6 connects the elevator operating devices 4 on the floor side to the elevator controller 12, thereby enabling communication between the elevator controller 12 and the elevator operating devices 4. For this communication, the elevator operating devices 4 and the elevator controller 12 can be directly or indirectly connected to communication network 6. Communication network 6 may include a communication bus system, separate data lines, or a combination thereof. Depending on the implementation of communication network 6, separate addresses and / or identifiers can be assigned to the elevator controller 12 and each elevator operating device 4, allowing, for example, the elevator controller 12 to send messages to a desired elevator operating device 4. Communication can be performed according to protocols for wired communication, such as Ethernet. In one embodiment, the elevator operating device 4 is powered via communication network 6.

[0049] The elevator operating device 4 can be configured in various ways, particularly for one or more types of interaction with personnel 8 and possibly with robot 2. For entering an elevator call, both personnel 8 and robot 2 may need to be authorized to use elevator system 1 or enter floors L1, L2, L3. To verify authorization, an authorization credential can be provided, which personnel 8 must present when making the call; this may also apply to robot 2, as those skilled in the art will recognize that the type of authorization credential is suitable for the use of robot 2.

[0050] In a building system, authorization credentials are typically assigned to person 8 or a group of people (e.g., in a database of user profiles) and must be presented by person 8 when entering a restricted access area, such as to use elevator system 1. The authorization credentials may be stored as a password (code) on an information carrier (e.g., in the chip of a chip card, the magnetic stripe of a magnetic stripe card, or the memory of a mobile phone) or depicted (e.g., as an optical code in the form of a QR code, barcode, or color code). In one embodiment, the authorization credentials for person 8 may be biometrics, such as a fingerprint or facial image of person 8.

[0051] The elevator operating device 4 can be adapted to accept authorization credentials to be used within the building. In one embodiment, the elevator operating device 4 may include an optical reading device (e.g., a digital camera) to record an optical code from an information carrier. The information carrier may be configured, for example, as an employee ID card in the shape of a credit card or the like; in another embodiment, a mobile phone (or similar electronic device) of a person 8 serves as the information carrier, displaying the optical code on its screen. In one embodiment, the digital camera may be used to detect biometric authorization credentials. The detected biometric authorization credentials can then be used in conjunction with identification devices and stored biometric data of registered persons in the building to determine if access is authorized, for example, through facial recognition.

[0052] Additionally or alternatively, for this purpose, the elevator operating device 4 may include a radio-based reader that reads authorization credentials, for example, from the chip of an RFID transponder. The RFID transponder may be, for example, an employee ID card or similar, a mobile phone, or an RFID device in robot 2. In one embodiment, the radio-based reader may be configured to communicate with a mobile phone or RFID device using Near Field Communication (NFC) or Bluetooth technology. In one embodiment, once the mobile phone is within radio range of the reader, the mobile phone transmits the (electronic) authorization credentials to the radio-based reader via Bluetooth technology.

Claims

1. An elevator system (1) in a building, wherein a mobile robot (2) is present in the building, the mobile robot being designed to use the elevator system (1), the elevator system comprising: Elevator controller (12); An elevator car (10) is suspended on a support cable device (16) and is able to move between floors (L1, L2, L3) of the building under the control of the elevator controller (12), wherein the elevator car (10) has an allowable effective load. Counterweight unit (18), which is suspended on the support cable assembly (16) and thereby connected to the elevator car (10), wherein the weight of the counterweight unit (18) is less than a specified percentage than the sum of the allowable payload and the weight of the elevator car (10). A load detection unit (11) is communicatively connected to the elevator controller (12) and configured to determine the load level of the elevator car (10); Elevator operating device (4), which is communicatively connected to elevator controller (12); and A communication interface device (30) is communicatively connected to the elevator controller (12) and configured to send a first robot request message to the robot controller (20, 20a). The elevator controller (12) is configured to determine a control signal for moving the elevator car (10) from the starting floor to the ending floor, and is configured to generate the first robot request message when the movement of the elevator car (10) requires a downward travel with an empty elevator car (10). The elevator controller (12) uses the first robot request message to request the mobile robot (2) to enter the elevator car (10) at the starting floor, so as to increase the effective load in the elevator car (10). Wherein, the effective load in the elevator car (10) is less than the allowable effective load, and The elevator controller (12) is configured to initiate the journey from the starting floor to the ending floor after the entry.

2. The elevator system (1) according to claim 1, wherein, The elevator controller (12) is configured to determine the control signal in response to an elevator call entered at a call input floor or an activation signal generated by the maintenance software routine of the elevator system (1).

3. The elevator system (1) according to claim 1 or 2, wherein, The elevator controller (12) is configured to query the load detection unit (11) after the elevator car (10) has been loaded to determine the control signal for moving the elevator car (10).

4. The elevator system (1) according to any one of the preceding claims, wherein, The elevator controller (12) is configured to generate a second robot request message when the transportation cost along the upward direction is less than a threshold, wherein the elevator controller (12) uses the second robot request message to request the mobile robot (2) to enter the elevator car (10) at a floor where the elevator car (10) is in standby mode, wherein the communication interface device (30) is configured to send the second robot request message to the robot controller (20, 20a).

5. The elevator system (1) according to claim 4, wherein, The elevator controller (12) is configured to determine the transportation cost as a function of the energy cost, wherein the threshold specifies the peak electricity price for the energy cost per unit of energy, wherein the peak electricity price is specified by the energy supply company.

6. The elevator system (1) according to claim 4 or 5, wherein, The communication interface device (30) is configured to receive a status signal from the robot controller (20, 20a) in response to a second robot request message, the status signal indicating whether the mobile robot (2) is available at the starting floor when the elevator car (10) is in standby mode, and wherein the elevator controller (12) is configured to: When the mobile robot (2) is available, the elevator car (10) is controlled to open the car door (10a), the load detection unit (11) detects entry, and the elevator car (10) carrying the mobile robot (2) is moved to a floor. If the mobile robot (2) is unavailable, the elevator car (10) is put into standby mode.

7. The elevator system (1) according to any one of the preceding claims, wherein, The communication interface device (30) is configured to receive a status signal from the robot controller (20, 20a) in response to the first robot request message, the status signal indicating whether the mobile robot (2) is available on the starting floor, and wherein the elevator controller (12) is configured to: When the mobile robot (2) is available, the elevator car (10) is actuated to open the elevator car door (10a) at the starting floor, the load detection unit (11) detects entry, and the elevator car (10) carrying the mobile robot (2) moves according to the control signal. If the mobile robot (2) is unavailable, the elevator car (10) is moved according to the control signal.

8. The elevator system (1) according to any one of the preceding claims, wherein, The elevator controller (12) is configured to generate a robot release message, wherein the communication interface device (30) is configured to send the robot release message to the robot controller (20, 20a), wherein the elevator controller (12) requests the mobile robot (2) to leave the elevator car (10) via the release message.

9. A method for operating an elevator system (1) in a building according to any one of claims 1 to 8, wherein, The building has a mobile robot (2), and the elevator system (1) has an elevator controller (12), an elevator car (10) with a permissible payload, a counterweight unit (18), a load detection unit (11), an elevator operating device (4), and a communication interface device (30), wherein the weight of the counterweight unit (18) is less than the sum of the permissible payload and the weight of the elevator car (10) by a specified percentage, and the method includes: The control signal for moving the elevator car (10) is determined by the elevator controller (12); The elevator controller (12) determines the travel distance and direction of the elevator car (10) from the starting floor to the ending floor, and the load of the elevator car (10) is determined by the load detection unit (11). When the travel according to the determined load is substantially an unloaded travel in the downward direction, the elevator controller (12) generates a first robot request message, wherein the first robot request message requests the mobile robot (2) to enter the elevator car (10) at the starting floor to increase the effective load in the elevator car (10), wherein the effective load in the elevator car (10) is less than the allowable effective load; The first robot request message is sent to the robot controller (20, 20a) via the communication interface device (30); and When the load detection unit (11) detects that the mobile robot (2) is in the elevator car (10), it moves the elevator car (10) according to the control signal.

10. The method according to claim 9, wherein, The control signal is determined in response to an elevator call entered at the call input floor or an activation signal generated by the maintenance software routine of the elevator system (1).

11. The method according to claim 9 or 10, further comprising: When the transportation cost along the upward direction is less than a threshold, a second robot request message is generated by the elevator controller (12), wherein the elevator controller (12) uses the second robot request message to request the mobile robot (2) to enter the elevator car (10) at a floor where the elevator car (10) is in standby mode; and The second robot request message is sent to the robot controller (20, 20a) through the communication interface device (30).

12. The method of claim 11, further comprising determining the transportation cost as a function of energy cost via the elevator controller (12), wherein, The threshold specifies the peak electricity price for the cost of energy per unit of energy, wherein the peak electricity price is specified by the energy supply company.

13. The method according to claim 10 or 11, further comprising: The communication interface device (30) receives a status signal from the robot controller (20, 20a) in response to the second robot request message, wherein the status signal indicates whether the mobile robot (2) is available on the starting floor when the elevator car (10) is in standby mode. When the mobile robot (2) is available, the elevator car (10) door (10a) is actuated to open the car door (10a), the load detection unit (11) detects that the mobile robot (2) has entered the elevator car (10), and the elevator car (10) carrying the mobile robot (2) is moved to a floor, and If the mobile robot (2) is unavailable, the elevator car (10) is put into standby mode.

14. The method according to any one of claims 9 to 13, further comprising: The communication interface device (30) receives a status signal from the robot controller (20, 20a) in response to the first robot request message, wherein the status signal indicates whether the mobile robot (2) is available on the starting floor. When the mobile robot (2) is available, the elevator car (10) is actuated to open the elevator car door (10a) at the starting floor. The load detection unit (11) detects that the mobile robot (2) has entered the elevator car (10), and the elevator car (10) carrying the mobile robot (2) is moved according to the control signal. If the mobile robot (2) is unavailable, the elevator car (10) is moved according to the control signal.

15. The method according to any one of claims 9 to 14, further comprising generating a robot release message by the elevator controller (12), wherein, The communication interface device (30) is configured to send the robot release message to the robot controller (20, 20a), wherein the elevator controller (12) requests the mobile robot (2) to leave the elevator car (10) via the release message.

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