Elevator system

Abstract

To provide an elevator system allowing a robot to get on / off a car smoothly by correcting the deviation between a position coordinate which it recognizes as a current position and an actual position.SOLUTION: An elevator system according to one embodiment includes a robot comprising position detecting means that detects a position coordinate indicative of a position of a robot on a map given previously, code reading means that reads out information of a two-dimensional code within a car or at a desired point of a hall nearby an entrance / exit of the car through a camera provided on the robot, position correcting means that corrects the deviation between a position coordinate detected by the position detecting means and an actual position based on information of the two-dimensional code read by the code reading means and a shape of the two-dimensional code caught by the camera, and movement controlling means that controls the movement of the robot in getting on / off the car based on the position coordinate corrected by the position correcting means.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE An embodiment of the present invention relates to an elevator system. [Background technology]

[0002] There are known autonomous robots that carry luggage and clean floors in buildings. When a destination is input, the robot moves to the destination while avoiding obstacles and performs various tasks. By linking with an elevator, such a robot can use the elevator to move to each floor.

[0003] A map showing the movement route within the building is stored in advance in the robot. The robot autonomously travels toward the destination while grasping the position coordinates showing its current position on the map using, for example, a camera or a distance sensor. However, due to factors such as sensor accuracy, a discrepancy may occur between the position coordinates recognized as the current position of the robot on the map and the actual position, causing the robot to stop temporarily or become unable to travel. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6801719 [Patent Document 2] JP 2019-023848 A Summary of the Invention [Problem to be solved by the invention]

[0005] If the robot moves with a misalignment between the position coordinates it recognizes as its current location and its actual location, for example, when the robot approaches an elevator, it may bump into the elevator door and be unable to board the elevator smoothly. The same is true when exiting the elevator, where it may bump into the door and be unable to exit the elevator smoothly.

[0006] Therefore, the problem that the present invention aims to solve is to provide an elevator system that corrects the discrepancy between the position coordinates that the robot recognizes as its current position and its actual position, thereby enabling passengers to get on and off the elevator car smoothly. [Means for solving the problem]

[0007] An elevator system according to one embodiment links the movement of an autonomous robot with the operation of an elevator car. The robot includes a position detection means, a code reading means, a position correction means, and a movement control means. The position detection means detects position coordinates indicating the position of the robot on a pre-given map. The code reading means reads information of a two-dimensional code at any location in the car or at a landing near the entrance / exit of the car through a camera provided on the robot. The position correction means corrects a deviation between the position coordinates detected by the position detection means and an actual position based on the information of the two-dimensional code read by the code reading means and the shape of the two-dimensional code captured by the camera. The movement control means controls the movement of the robot when it gets on and off the car based on the position coordinates corrected by the position correction means. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration of an elevator system according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of a functional configuration of the elevator control device according to the first embodiment. [Diagram 3] FIG. 3 is a block diagram illustrating an example of a functional configuration of the robot according to the first embodiment. [Figure 4A] FIG. 4A is a diagram for explaining a method of correcting the position of a robot using a two-dimensional code according to the first embodiment. [Figure 4B]FIG. 4B is a diagram for explaining a method of correcting the position of a robot using a two-dimensional code according to the first embodiment. [Diagram 5] FIG. 5 is a flowchart showing an example of a specific processing procedure of the system according to the first embodiment. [Figure 6] FIG. 6 is a diagram for explaining the shape of the two-dimensional code according to the first embodiment when viewed from the front. [Figure 7] FIG. 7 is a diagram for explaining the shape of the two-dimensional code according to the first embodiment when viewed from the front. [Figure 8] FIG. 8 is a diagram for explaining the shape of the two-dimensional code according to the first embodiment when viewed from the front. [Figure 9] FIG. 9 is a diagram for explaining the shape of the two-dimensional code according to the first embodiment when viewed from the front. [Figure 10] FIG. 10 is a diagram showing an example in which two-dimensional codes are provided at various locations inside a car according to the first embodiment. [Figure 11] FIG. 11 is a diagram showing an example in which two-dimensional codes are provided at each location of a hall according to the first embodiment. [Figure 12] FIG. 12 is a diagram illustrating an example of a functional configuration of the elevator control device according to the second embodiment. As shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Each embodiment will be described below with reference to the drawings. (First embodiment) First, the first embodiment will be described.

[0010] In addition, the disclosure is merely an example, and the invention is not limited to the contents described in the following embodiments. Modifications that a person skilled in the art can easily correspond to are naturally included in the scope of the disclosure. In order to make the explanation clearer, the size, shape, etc. of each part may be changed from the actual embodiment and shown diagrammatically in the drawings. In multiple drawings, corresponding elements may be given the same reference numerals, and detailed explanations may be omitted.

[0011] FIG. 1 is a diagram showing a schematic configuration of an elevator system according to this embodiment. The elevator control device 11 is installed in a machine room or the like at the top of the building 14, and controls the entire elevator including the car 12. In a machine room-less type elevator that does not have a machine room, the elevator control device 11 is provided in the hoistway 16.

[0012] Under the control of the elevator control device 11, the car 12 moves up and down in the hoistway 16 via a rope 15 driven by a hoist (not shown). Although one car 12 is shown in FIG. 1, there may be multiple cars in the building 14. Inside the car 12, a car operation panel 20 is installed on which buttons and the like are arranged for users to register car calls. A "car call" is a call signal registered by operating a destination call button provided inside the car room, and includes information on the destination floor.

[0013] Here, a two-dimensional code 60 is provided in the car 12. The two-dimensional code 60 is, for example, a QR code (registered trademark), and has information written in a two-dimensional form. In this embodiment, the two-dimensional code 60 includes, as information for correcting the position of the robot 13, first code information (hereinafter referred to as code installation information) indicating the installation location of the two-dimensional code 60, and second code information (hereinafter referred to as elevator structure information) regarding the elevator structure near the installation location. The elevator structure information includes the size of the car 12, the position and size of the frontage, the position and size of the sill, the position and size of the jamb, and the like. The two-dimensional code 60 is, for example, printed on a rectangular sheet of a sticker material, and provided by pasting or the like at any location in the car 12.

[0014] Meanwhile, hall call buttons 18a, 18b, 18c, 18d... are installed at the halls 17a, 17b, 17c, 17d... on each floor. The hall call buttons 18a, 18b, 18c, 18d... are buttons for users to register hall calls. Note that a "hall call" is a call signal registered by operating the hall call button installed at the hall on each floor, and includes information on the registered floor and destination direction.

[0015] The elevator control device 11 is connected to an elevator server 100 via a communication network 10. The elevator server 100 is installed at an arbitrary location independent of the elevator control device 11. The elevator server 100 is connected to each of the elevator control devices installed for each elevator in each property, and monitors the operation status of each elevator through these elevator control devices. In this embodiment, the elevator server 100 is also connected to a robot server 200 that manages the movement of the robot 13 via the communication network 10.

[0016] The robot server 200 is installed in the building 14 or at any other location in order to manage the robot 13 that moves autonomously within the building 14. The robot server 200 is communicably connected to the robot 13 and transmits signals to the robot 13 instructing the robot 13 on a destination and a route to the destination. In this embodiment, the robot server 200 receives a movement request signal (described later) from the robot 13 so that the robot 13 can move to another floor using an elevator, and transmits the movement request signal to the elevator server 100. In the following description, the robot server 200 is described as managing one robot 13, but the robot server 200 may manage multiple robots.

[0017] The robot 13 is an autonomous mobile robot that carries luggage, cleans floors, etc. The robot 13 is equipped with a sensor 31, a camera 32, and a communication device 33.

[0018] As the sensor 31, for example, a laser range finder, an ultrasonic range sensor, a LIDAR (Laser Imaging Detection and Ranging), etc. are used. The robot 13 detects the distance to an obstacle by the sensor 31 and moves while avoiding the obstacle. The robot 13 also holds a map (map information) of the inside of the building in advance, and can grasp the current position of the robot 13 on the map by comparing environmental information such as walls and pillars present around the robot 13 detected by the sensor 31 while moving with environmental information such as walls and pillars indicated on the map.

[0019] The camera 32 is installed facing forward at an arbitrary position on the robot 13. The robot 13 reads the information of the two-dimensional code through the camera 32 and corrects the deviation between the position coordinates recognized as the current position on the map and the actual position. The camera 32 may be used in combination with the sensor 31 not only to read the two-dimensional code 60 but also to detect environmental information around the robot 13.

[0020] The communication device 33 wirelessly communicates with the robot server 200 that manages the movement of the robot 13. The robot 13 receives instructions regarding a destination and a movement route from the robot server 200, and moves within the building 14 based on these instructions to perform various tasks.

[0021] The robot 13 moves to each floor of the building 14 by coordinating with the elevator control device 11 via the robot server 200 and the elevator server 100.

[0022] Specifically, when moving to another floor using an elevator, the robot 13 transmits a movement request signal to the robot server 200. The movement request signal includes identification information (robot ID) of the robot 13, information on the building where the robot 13 is located (property information), and information on the boarding floor and destination floor. This movement request signal is transferred from the robot server 200 to the elevator server 100. The elevator server 100 identifies the robot 13 to be controlled and the building where the robot 13 is located based on the robot ID and property information included in the movement request signal, and transmits information on the boarding floor and destination floor of the robot 13 to an elevator control device (here, the elevator control device 11 of the building 14) installed in the building. As a result, the elevator control device 11 registers the boarding floor of the robot 13 as a hall call and causes the car 12 to respond to the boarding floor of the robot 13. The elevator control device 11 also registers the destination floor of the robot 13 as a car call, causes the robot 13 to board the car 12, and moves to the destination floor.

[0023] Alternatively, a wireless device may be installed at each of the landings 17a, 17b, 17c, 17d, etc., and the robot 13 may transmit a movement request signal directly to the elevator control device 11 via this wireless device. On the other hand, by using the robot server 200 and the elevator server 100 as described above, it is not necessary to install wireless devices at the landings, and the cost of equipment can be reduced when the system is introduced to many buildings.

[0024] FIG. 2 is a block diagram showing an example of a functional configuration of the elevator control device 11. The elevator control device 11 includes a control unit 41, a communication unit 42, I / F (interface) units 43a and 43b, and a storage unit 44 as functional components for implementing an elevator system linked with the robot 13.

[0025] The control unit 41 is made up of a CPU, and executes a predetermined program to control responses to calls (hall calls / car calls) and to control the speed of the car 12. The control unit 41 includes, for example, a door opening / closing control unit 41a and an operation control unit 41b.

[0026] The door opening / closing control unit 41a controls the opening and closing of the car door of the car 12. The power source (door motor) is located on the car 12 side, and the doors (landing doors) installed at each landing 17a, 17b, 17c, 17d, ... simply open and close following the car door. In the following description, it is assumed that when the car door is open, the landing door is also open, and when the car door is closed, the landing door is also closed.

[0027] The operation control unit 41b controls the operation of the car 12. In detail, the operation control unit 41b makes the car 12 respond to hall calls from users registered by operating the hall call buttons 18a, 18b, 18c, 18d, ... on each floor, and moves the car 12 toward the destination floor of the user registered by operating the car operation panel 20. In addition, when a movement request signal is sent from the robot 13, the operation control unit 41b moves the car 12 to the boarding floor and destination floor of the robot 13 included in the movement request signal.

[0028] The communication unit 42 controls data communication with the elevator server 100. This communication unit 42 is connected to the elevator server 100 via, for example, a controller not shown, and transmits various information to the elevator server 100 and receives a movement request signal transmitted from the robot 13 via the robot server 200.

[0029] The I / F unit 43a is an interface for the car. The I / F unit 43a performs input processing of signals from various buttons on the car operation panel 20 provided in the car 12, output processing of data to be displayed on a display, and the like.

[0030] The I / F unit 43b is an interface for the hall. The I / F unit 43b performs input processing of signals from the hall call buttons 18a, 18b, 18c, 18d, etc. shown in FIG. 1 and output processing of data to be displayed on a hall display (not shown).

[0031] The storage unit 44 is made up of ROM, RAM, etc., and stores various data necessary for the processing of the control unit 41, such as the control program. For example, the control program and elevator specification data (car size, etc.) are stored in the ROM. Depending on the processing algorithm, data may be temporarily read from the ROM at startup and stored in the RAM to shorten the processing time. This storage unit 44 has a call management table 44a and a robot management table 44b.

[0032] The call management table 44a manages information on platform calls and car calls from users, and also manages information on boarding floors and destination floors included in the movement request signal of the robot 13. When multiple robots exist in the building 14, the call management table 44a manages information on the registered floor and destination floor of each robot in association with the robot IDs given to these robots.

[0033] The robot management table 44b stores management information for the robot 13 that uses the elevator. This management information includes, for example, a robot ID given to the robot 13 and size information of the robot 13 in the vertical, horizontal, and height directions.

[0034] FIG. 3 is a block diagram showing an example of a functional configuration of the robot 13. The robot 13 is provided with a control unit 51, an operation unit 52, a display unit 53, a storage unit 54, a drive unit 55, etc., in addition to the sensor 31, the camera 32, and the communication device 33 shown in FIG.

[0035] The control unit 51 is made up of a CPU, and by starting a predetermined program, performs control for autonomously moving using elevators within a predetermined area including each floor of the building 14. The control unit 51 includes a position detection unit 51a, a code reading unit 51b, a position correction unit 51c, and a movement control unit 51d.

[0036] The position detection unit 51a detects the position coordinates in the x and y directions of the robot 13 on a map of the building 14 given in advance. In detail, the position detection unit 51a detects the position coordinates of the robot 13 on the map by comparing the building structures (walls, pillars, etc.) detected as environmental information by the sensor 31 with the building structures shown on the map. Alternatively, the position detection unit 51a may detect the position coordinates of the robot 13 on the map based on the moving direction and moving amount (rotation amount of the motor) of the robot 13 from a predetermined reference point. The map of the building may be provided by the manager of the robot 13 or may be provided by the robot server 200. Alternatively, the map of the building may be created by the robot 13 itself by acquiring environmental information while moving in the building 14 in advance.

[0037] The code reading unit 51b analyzes the image of the two-dimensional code 60 captured by the camera 32, and reads the code installation information and elevator structure information recorded as information about the two-dimensional code 60.

[0038] The position correction unit 51c corrects the deviation between the position coordinates recognized as the current position of the robot 13 on the map and the actual position, based on the information of the two-dimensional code 60 read by the code reading unit 51b and the shape of the two-dimensional code 60 when viewed (captured) from the current position of the robot 13. The "shape of the two-dimensional code 60" specifically includes the shape of the sheet on which the two-dimensional code 60 is printed, or the shape of the entire image forming the two-dimensional code 60. The shape of the two-dimensional code 60 is obtained by analyzing the image of the two-dimensional code 60 captured by the camera 32. The specific processing of the position correction unit 51c will be described later with reference to FIG. 5.

[0039] Based on the position coordinates corrected by the position correction unit 51c, the movement control unit 51d controls the movement of the robot 13 when it gets on and off the car 12. In detail, the movement control unit 51d checks the positions of the elevator structure doors, jambs, etc. obtained from the two-dimensional code 60, and causes the robot 13 to get on or off the car 12 without coming into contact with the elevator structure.

[0040] The operation unit 52 is a section where, for example, an administrator of the robot 13 performs input operations such as changing the destination and turning the power on / off. The display unit 53 displays various data. The memory unit 54 stores programs, maps, and the movement route of the robot 13 in advance. The drive unit 55 includes a motor for driving wheels installed on the bottom of the robot 13.

[0041] Although not shown, the elevator server 100 is equipped with a control unit, a storage unit, a communication unit, etc., as a general computer configuration. The control unit is made up of a hardware processor (CPU), and performs processing to detect abnormalities in the elevators controlled by each elevator control device. The storage unit is made up of memory devices such as ROM and RAM, and stores various data and programs required for processing by the control unit. The communication unit is made up of a communication device having a predetermined communication protocol, and performs communication processing between the elevator control device 11 and the robot server 200. In addition, although the configuration of the robot server 200 is not shown, it is similar to the elevator server 100, and is equipped with a control unit, a storage unit, a communication unit, etc., as a general computer configuration.

[0042] Here, a method for correcting the position of the robot 13 using the two-dimensional code 60 will be described with reference to Fig. 4A. Fig. 4A shows the state when the robot 13 has arrived at the landing 17d of an arbitrary floor. The car 12 responds to a call (movement request signal) from the robot 13 and waits with its door open.

[0043] Now, it is assumed that the robot 13 recognizes the coordinates of position P on the map in front of the entrance / exit of the car 12 as its current position. Position P in front of the entrance / exit of the car 12 is predetermined as the position (boarding position) when the robot 13 boards the car 12, and is a position a predetermined distance away from the center of the sill 22 of the car 12 in the vertical direction of the sill 22 (the short side direction of the sill 22) toward the landing 17d. When the robot 13 boards the car 12, it moves so that the current position detected by the sensor 31 of the robot 13 is aligned with position P. However, due to low sensor accuracy or other reasons, a position Pa slightly shifted from position P may be erroneously recognized as position P.

[0044] In this way, if the position coordinates recognized by the robot 13 as the current position are misaligned with the actual position P, there is a possibility that the robot 13 may not be able to board the car 12 smoothly, for example by bumping into the jamb 21b. The same applies when disembarking from the car 12, and there is a possibility that the robot 13 may not be able to disembark smoothly, for example by bumping into the entrance of the car 12.

[0045] Therefore, in this embodiment, a two-dimensional code 60 is provided on the floor surface 23 in front of the entrance / exit in the car 12, specifically, on the floor surface 23 in front of the sill 22. As described above, the two-dimensional code 60 records information for correcting the position of the robot 13 (code installation information and elevator structure information). Based on the information of the two-dimensional code 60 and the shape of the two-dimensional code 60 as viewed from the current position of the robot 13, the robot 13 is moved in a direction that eliminates the deviation between the position coordinates that the robot 13 recognizes as its current position on the map and its actual position, and the position after the movement is corrected to the correct position coordinates. This allows the robot 13 to smoothly board the car 12 without colliding with the jamb 21b or the like.

[0046] An example of a specific processing procedure of this system will be described below with reference to the flowchart in Fig. 5, divided into (a) processing on the robot 13 side and (b) processing on the elevator control device 11 side. Fig. 5(a) shows the processing procedure of the robot 13, and Fig. 5(b) shows the processing procedure of the elevator control device 11. As shown in Fig. 1, the robot 13 and the elevator control device 11 exchange signals via the robot server 200 and the elevator server 100.

[0047] (a) Processing on the robot 13 side An example of a processing procedure of the robot 13 will be described with reference to Fig. 5(a). Note that the processing shown in the flowchart of Fig. 5(a) is executed by the control unit 51 provided in the robot 13.

[0048] Assume that the robot 13 checks its current position against a map inside the building 14, goes to an elevator hall, and then gets on the elevator car 12 to move to another floor. When the position detection unit 51a of the control unit 51 detects that the robot 13 has arrived at a landing on any floor on the map (YES in step S11), a movement request signal for moving to another floor is transmitted to the robot server 200 (step S12). As described above, the movement request signal includes the current floor (boarding floor) and the floor where the destination of the robot 13 is located (destination floor). In the following description, it is assumed that the robot 13 has arrived at, for example, the landing 17d on the fourth floor (see FIG. 1).

[0049] In response to the movement request signal, when the car 12 arrives at the landing 17d on the fourth floor and opens its door, the robot 13 detects the door opening of the car 12 by the sensor 31 (step S13). Note that when the car 12 arrives at the landing 17d on the fourth floor and opens its door, the elevator control device 11 may notify the robot 13 of the arrival of the car 12 at the fourth floor and the door opening by a signal via the elevator server 100 and the robot server 200.

[0050] When the door of the car 12 opens, the robot 13 judges whether or not a two-dimensional code 60 is provided inside the car 12 from the image of the camera 32 (step S14). If a two-dimensional code 60 is provided inside the car 12 (YES in step S14), the code reading unit 51b of the robot 13 reads information on the two-dimensional code 60 and obtains code installation information and elevator structure information contained in the information (step S15).

[0051] The code installation information indicates where the two-dimensional code 60 is installed in the car 12. The elevator structure information indicates the size of the car 12, the position and size of the entrance, the position and size of the sill, the position and size of the jamb of the landing 17d, etc. This information is used in the position correction process of the robot 13 (steps S16 to S19).

[0052] (Position correction processing) First, the position correction unit 51c detects whether the robot 13 is on the left or right side of the two-dimensional code 60 (the positional relationship between the two-dimensional code 60 and the robot 13) (step S16).

[0053] 6 is a diagram showing an example of a two-dimensional code 60. The two-dimensional code 60 is, for example, a QR code, and has rectangular marks M1, M2, and M3 called "finder patterns (cut-out symbols)" attached to three of the four corners. The orientation of the two-dimensional code 60 can be ascertained from the arrangement of the marks M1, M2, and M3 when an image of the two-dimensional code 60 is read through the camera 32.

[0054] 6(a) shows the shape of a two-dimensional code 60 when viewed from above. When viewed from above, the two-dimensional code 60 is a rectangle with four corners at 90 degrees, with the top side us and bottom side ds, and the left side ls and right side rs parallel to each other. It is also a square with the left side ls = bottom side ds.

[0055] Fig. 6(b) shows the shape of the two-dimensional code 60 when viewed from the current position (actual position) of the robot 13. For example, when the robot 13 is at position Pa as shown in Fig. 4A and views the two-dimensional code 60 provided on the floor surface 23 inside the car 12 through the camera 32, the shape of the two-dimensional code 60 on the image is a rectangle with upper side us<lower side ds.

[0056] Here, the robot 13 uses the sensor 31 to detect the distance between the robot 13 and each of the marks M1 and M2 near the upper side us of the two-dimensional code 60. As a result, if the distance between the robot 13 and the mark M1 is closer than the mark M2, it can be determined that the robot 13 is on the mark M1 side of the two-dimensional code 60, that is, on the left side ls side. On the other hand, if the distance between the robot 13 and the mark M2 is closer than the mark M1, it can be determined that the robot 13 is on the mark M2 side of the two-dimensional code 60, that is, on the right side rs side.

[0057] Next, the position correction unit 51c detects the shape of the two-dimensional code 60 when viewed from the current position of the robot 13, and moves the robot 13 so that this shape matches the shape of the two-dimensional code 60 when viewed from the front (step S17).

[0058] Here, the shape of the two-dimensional code 60 when viewed from the front will be specifically described with reference to Figs. 7 is a diagram showing a schematic diagram of the positional relationship between the robot 13 and the two-dimensional code 60. In the diagram, D1 to D4 represent the direction in which the robot 13 faces when the vicinity of the center position of the entrance / exit of the car 12 is defined as the "front." In this example, the two-dimensional code 60 is placed in front of the center of the sill 22 on the floor surface 23 inside the car 12.

[0059] A case will now be described assuming that the robot 13 is at a position indicated by P1, and moves from there in the direction of D1, approaching the "front." As shown in Fig. 8, the shape of the two-dimensional code 60 seen by the robot 13 changes as the robot 13 moves. Fig. 8(a) shows the shape of the two-dimensional code 60 seen when the robot 13 is at position P1. When the robot 13 moves from position P1 in the direction of D1, the shape of the two-dimensional code 60 changes from (a) → (b) → (c) → (d) as it approaches the "front." Then, when the robot 13 comes to the "front," that is, when it comes close to the center position of the entrance / exit of the car 12, the shape of the two-dimensional code 60 seen by the robot 13 becomes a trapezoid with the upper side us and the lower side ds parallel to each other and the left side ls and the right side rs having the same length, as shown in Fig. 8(d).

[0060] This will be explained in more detail. As shown in Figure 9, if one focuses on the upper side us and the lower side ds of the two-dimensional code 60, when the robot 13 views the two-dimensional code 60 from position P1, the upper side us slopes upward to the left. As the robot 13 moves from position P1 closer to the front of the two-dimensional code 60, the upward slope to the left becomes smaller, as in us1 → us2 → us3 → us4, and appears to gradually get longer.

[0061] On the other hand, as the robot 13 approaches the front of the two-dimensional code 60, the slope of the bottom side ds of the two-dimensional code 60 becomes smaller and appears to gradually get longer, as in ds1 → ds2 → ds3 → ds4.

[0062] When the robot 13 approaches the front, the upper side us and the lower side ds become parallel to the horizontal direction. At this time, the lower side ds is closer to the robot 13 than the upper side us, so the lower side ds appears longer than the upper side us.

[0063] Next, the left side ls and the right side rs will be described. When the robot 13 views the two-dimensional code 60 from position P1, the right side rs appears to be tilted to the right. As the robot 13 approaches the front of the two-dimensional code 60 from position P1, it appears to tilt from the right to the left, as in rs1 → rs2 → rs3 → rs4, and gradually get longer. Meanwhile, the left side ls of the two-dimensional code 60 also appears to tilt from the right to the left, as in ls1 → ls2 → ls3 → ls4, and gradually get longer, as the robot 13 approaches the front of the two-dimensional code 60. When the robot 13 reaches the front, the left side ls and the right side rs form an equal trapezoid.

[0064] The same is true when the robot 13 moves in the direction from position P2 to D2, when it moves in the direction from position P3 to D3, or when it moves in the direction from position P4 to D4; as the robot 13 approaches the front of the two-dimensional code 60, the upper side us and lower side ds of the two-dimensional code 60 become parallel, and the left side ls and right side rs become equal in length.

[0065] In this way, if the robot 13 is moved to a position where the shape of the two-dimensional code 60 seen by the robot 13 is such that the upper side us and the lower side ds are parallel and the left side ls and the right side rs are equal in length (i.e., the shape of the two-dimensional code 60 when viewed from the front), then that position can be determined to be the front position of the two-dimensional code 60. Therefore, by moving the robot 13 to a predetermined boarding position (position P in FIG. 4A) based on that position and aligning the position coordinates recognized by the robot 13 at the moved position with the predetermined position (position P in FIG. 4A), it is possible to correct the deviation between the position coordinates recognized by the robot 13 and the actual position.

[0066] 5, when the shape of the two-dimensional code 60 seen by the robot 13 matches a predetermined shape, that is, the shape when viewed from the front (YES in step S18), the position correction unit 51c moves the robot 13 to a predetermined position (position P in FIG. 4A) based on the installation location of the two-dimensional code 60 obtained from the code installation information of the two-dimensional code 60. The position correction unit 51c corrects the position coordinates that the robot 13 recognizes as its current position to the above position (position P in FIG. 4A) (step S19).

[0067] Specifically, it is assumed that the code installation information read from the two-dimensional code 60 indicates that the center of the lower side ds of the two-dimensional code 60 is the center of the sill 22 (in front of the entrance / exit of the car 12). Also, it is assumed that the robot 13 has moved to position Pb (see FIG. 4A) by the process of step S17.

[0068] First, the distance (La) from the robot 13 in front of the two-dimensional code 60 to the two-dimensional code 60 is calculated (see FIG. 4A). This distance La can be found by applying the following Pythagorean theorem, for example, where the height from the floor surface of the hall 17d to the sensor 31 of the robot 13 is Lb, and the distance from the sensor 31 to the bottom side ds of the two-dimensional code 60 is Lc. La 2 +Lb 2 =Lc 2 The robot 13 is moved in the vertical direction (the short side direction of the sill 22) so that the distance La obtained in this way becomes the predetermined distance Ld. The distance Ld is the vertical distance from a predetermined position P to the two-dimensional code 60, and varies depending on the installation position of the two-dimensional code 60. The distance Ld is read from the two-dimensional code 60 as code installation information.

[0069] Even if the two-dimensional code 60 is installed on a wall surface or the like, the robot 13 is moved vertically so that the distance La from the robot 13 to the two-dimensional code 60 becomes the distance Ld, based on the relationship between the robot 13 and the installation position of the two-dimensional code 60.

[0070] This causes the robot 13 to move to position P. Therefore, by aligning the position coordinates on the map that the robot 13 grasps as its current position with the predetermined position P, it is possible to correct the deviation between the position coordinates recognized by the robot 13 and its actual position. Also, the process described in step S19 is an example, and the deviation between the actual position of the robot 13 and the position coordinates on the map may be corrected by other calculation processes.

[0071] Here, the two-dimensional code 60 has been described as being set at the center of the sill 22. As described above, when the two-dimensional code 60 is set at the center of the sill 22, the positional deviation can be corrected by vertical movement, and the passenger can quickly board the car 12.

[0072] On the other hand, as shown in Fig. 4B, if the two-dimensional code 60 is placed at a position shifted from the center of the sill 22, a procedure is required to move the robot 13 horizontally (in the longitudinal direction of the sill 22) in addition to moving it vertically. In detail, the horizontal distance Le between the center of the bottom side ds of the two-dimensional code 60 and the center of the sill 22 is read from the code placement information of the two-dimensional code 60, and the robot 13 is moved vertically and then moved horizontally by the distance Le so that the distance La from the robot 13 to the two-dimensional code 60 becomes the distance Ld.

[0073] Thereafter, the movement control unit 51d causes the robot 13 to board the car 12 based on the corrected position coordinates (step S20). At this time, the movement control unit 51d refers to the size of the car 12 obtained as elevator structure information from the two-dimensional code 60, the position and size of the entrance, the position and size of the sill, the position and size of the jamb, and the like, and controls the drive unit 55 to cause the robot 13 to board the car 12 smoothly so that the robot 13 does not collide with the elevator structure.

[0074] In addition, for example, if the two-dimensional code 60 cannot be read due to a user or luggage inside the elevator 12 (NO in step S14), in order to prevent the operation of the robot 13 from stopping at that point, the above-mentioned position correction process is not performed, and the movement of the robot 13 is controlled according to the currently detected position coordinates, and the robot 13 is allowed to board the elevator 12 (step S20).

[0075] When the robot 13 boards the car 12, a signal indicating that boarding has been completed (boarding completion signal) is sent to the elevator control device 11 via the robot server 200 and the elevator server 100 (step S21), and the processing here is terminated.

[0076] (b) Processing on the elevator control device 11 side Next, the process of the elevator control device 11 will be described with reference to Fig. 5(b). Note that the process shown in the flowchart of Fig. 5(b) is executed by the control unit 41 provided in the elevator control device 11. Now, assume that a movement request signal has been sent from the robot 13 to the elevator control device 11 via the robot server 200 and the elevator server 100. This movement request signal includes information on the boarding floor and the destination floor. The control unit 41 of the elevator control device 11 receives this movement request signal as a call registration (YES in step A11), and causes the car 12 to respond to the boarding floor of the robot 13 via the operation control unit 41b (step A12).

[0077] When the car 12 arrives at the boarding floor of the robot 13, the door opening / closing control unit 41a opens the door of the car 12 at the landing of the boarding floor (step A13). At this time, the elevator control device 11 may inform the robot 13 via the elevator server 100 and the robot server 200 that the car 12 has arrived at the boarding floor of the robot 13 and has opened the door.

[0078] Furthermore, when the elevator control device 11 receives a boarding completion signal from the robot 13 via the robot server 200 and the elevator server 100 (YES in step A14), it closes the door of the car 12 via the door opening / closing control unit 41a (step A15). After the door of the car 12 is closed, the operation control unit 41b causes the car 12 to depart toward the destination floor of the robot 13 (step A16).

[0079] 5, the case where the robot 13 gets on the car 12 is described, but the same applies to the case where the robot 13 gets off the car 12. That is, when the robot 13 arrives at the destination floor, the deviation between the position coordinates on the map detected by the robot 13 and the actual position is corrected based on the shape of the two-dimensional code 60 placed in the car 12 and the code installation information and elevator structure information read from the two-dimensional code 60. The movement of the robot 13 is controlled based on the corrected position coordinates, and the robot 13 gets off the car 12.

[0080] As described above, according to this embodiment, the deviation between the position coordinates on the map and the actual position of the robot 13 is corrected based on the information and shape of the two-dimensional code 60 provided inside the elevator car 12. Therefore, by controlling the movement of the robot 13 based on the corrected position coordinates, the robot 13 can smoothly board or disembark the car 12 when using the elevator to move to another floor without colliding with the jamb or the like of the hall.

[0081] Furthermore, by recording code installation information and information about the elevator structure in the two-dimensional code 60, the robot 13 can obtain this information and use it for position correction processing by simply reading the two-dimensional code 60, even if the robot 13 does not store this information. This is the same even if the property changes. In other words, there is no need to have the robot 13 store code installation information and information about the elevator structure for each property in advance, and the robot 13 can obtain this information and perform position correction processing by simply reading the two-dimensional code 60 on site.

[0082] Furthermore, the two-dimensional code 60 can be placed anywhere inexpensively and easily, for example as a sticker, so that the costs and work time associated with the placement can be reduced.

[0083] The location of the two-dimensional code 60 is not limited to the floor surface 23 in front of the entrance / exit inside the car 12. Fig. 10 is a diagram showing an example of the installation of the two-dimensional code 60, and shows the state inside the car 12 when the car door panels 25a, 25b and the landing door panels 24a, 24b are open.

[0084] In the example of FIG. 10, a two-dimensional code 60a is installed on the floor surface 23 in front of the entrance of the car 12, a two-dimensional code 60b is installed on the sill 22, and a two-dimensional code 60c is installed on the back surface 27. The two-dimensional codes 60e and 60d may be displayed on the display 20a on the car operation panel 20 installed on the front pillar 26a in the car 12 or on the monitor 72 installed on the back surface 27 of the car 12. The two-dimensional code 60a on the floor surface 23 of the car 12 and the two-dimensional code 60c on the back surface 27 may be projected by a projector installed in the car 12, for example. At least one of these two-dimensional codes 60a, 60b, 60c, 60d, and 60e may be installed.

[0085] Moreover, the two-dimensional code 60 may be placed at the landings 17a, 17b, 17c, 17d, etc. on each floor. Fig. 11 is a diagram showing an example in which the two-dimensional code 60 is placed at each location of the landing 17a.

[0086] In the example of FIG. 11, a two-dimensional code 60f is provided on the right-side landing door panel 24b, a two-dimensional code 60g is provided on the floor surface of the landing 17a, and a two-dimensional code 60h is provided on the frame 21. The two-dimensional code 60f may be provided on the left-side landing door panel 24a. The two-dimensional code 60i may be displayed on a monitor 74 provided on the landing 17a. The two-dimensional code 60f on the landing door panel 24b, the two-dimensional code 60g on the floor surface of the landing 17a, and the two-dimensional code 60h on the frame 21 may be projected by a projector provided on the landing 17a, for example. It is sufficient that at least one of these two-dimensional codes 60f, 60g, 60h, and 60i is provided.

[0087] In short, the two-dimensional code 60 may be installed anywhere as long as the robot 13 can move toward the front of the two-dimensional code 60 when getting on or off the car 12. In addition, by installing the two-dimensional code 60 in multiple locations, even if one of the two-dimensional codes is unreadable due to dirt or the like, the other two-dimensional codes can be read to correct the discrepancy between the position coordinates on the map detected by the robot 13 and the actual position of the robot 13.

[0088] It is also possible to provide two-dimensional codes 60 at various points on the path of movement of the robot 13, and perform position correction every time the robot 13 passes these points.

[0089] Furthermore, the two-dimensional code 60 may include information on sites that the user can use in the elevator, in addition to the information used by the robot 13 for position correction (code installation information and elevator structure information).

[0090] "Information about a site that a user can use in an elevator" is, for example, information about a site that provides an application that allows a user to register a call using a mobile device. Specifically, a URL (Uniform Resource Locator) for accessing this site is included in the two-dimensional code 60 as information for the user (third code information). This allows a user to download and use the application by simply reading the two-dimensional code 60 with their mobile device when they arrive at the elevator, without having to download the application in advance.

[0091] In addition, when the two-dimensional code 60 contains information for the robot and information for the user, it is preferable that the user's mobile terminal be able to selectively read the user's information and the robot 13 be able to selectively read the robot's information.

[0092] For example, if information such as "https: / / domain name / code installation information / elevator structure information" is recorded in the two-dimensional code 60, the first half "https: / / domain name" is made readable by the user's mobile device as user information, and the latter half "code installation information / elevator structure information" is made readable by the robot 13 as robot information. This makes it possible to provide information not only to the robot 13 but also to the user using the same two-dimensional code 60.

[0093] Second embodiment Next, a second embodiment will be described.

[0094] In the second embodiment, the elevator control device 11 is configured to project or display a two-dimensional code 60, and when the robot 13 boards the car 12, the user's boarding position is included in the two-dimensional code 60 and projected or displayed.

[0095] Fig. 12 is a diagram showing an example of a functional configuration of an elevator control device 11 according to a second embodiment. Note that the same reference numerals are used to designate the same parts as those in the first embodiment described above with reference to Fig. 2, and the following mainly describes the parts that are different from the first embodiment.

[0096] In the second embodiment, a camera 71, a monitor 72, and a projector 73 are installed in the elevator car 12. The camera 71 is an ultra-wide-angle camera or the like, and is installed, for example, near the ceiling of the car 12 so as to capture the entire interior of the car 12. The monitor 72 is a display for displaying indicators on the car operation panel 20, advertisements, etc., and displays various videos and images under the control of the elevator control device 11. In this embodiment, a two-dimensional code 60 is displayed on the monitor 72. The projector 73 is installed so as to be able to project the two-dimensional code 60 onto a predetermined location in the car 12 (for example, the floor or wall surface in the car 12) under the control of the elevator control device 11.

[0097] Further, a monitor 74 and a projector 75 are installed at the landings 17a, 17b, 17c, 17d, etc. of each floor. In the example of FIG. 11, only the landing 17a is shown, but the other landings 17b, 17c, 17d, etc. are similar. The monitor 74 is a display that displays the current floor of the car 12, etc., and displays various videos and images under the control of the elevator control device 11. In this embodiment, a two-dimensional code 60 is displayed on the monitor 74. The projector 75 is installed so that the two-dimensional code 60 can be projected on a predetermined location of the landings 17a, 17b, 17c, 17d, etc. (for example, the floor surface or jamb of the landings 17a, 17b, 17c, 17d, etc., the landing door, etc.) under the control of the elevator control device 11.

[0098] The control unit 41 of the elevator control device 11 includes a boarding position detection unit 41c and a generation unit 41d in addition to the door opening / closing control unit 41a and the operation control unit 41b similar to those in the first embodiment. The boarding position detection unit 41c analyzes and processes the image (video) of the camera 71 installed in the car 12, and detects the boarding position of the user in the car 12. The information on the boarding position at this time is, for example, a coordinate position indicating where the user is located relative to the car 12.

[0099] The generating unit 41d generates a two-dimensional code 60 including code installation information (first code information) and elevator structure information (second code information) as information for the robot described in the first embodiment. The code installation information and elevator structure information are stored in advance in the storage unit 44, and are read out from the storage unit 44 by the generating unit 41d when the two-dimensional code 60 is projected or displayed. The generating unit 41d encodes the code installation information and elevator structure information by a predetermined method to generate the two-dimensional code 60. At this time, information for accessing a predetermined site (third code information) may be included in the two-dimensional code 60 as information for the user.

[0100] Here, in the second embodiment, the generation unit 41d has a function of generating information indicating the boarding position of the user detected by the boarding position detection unit 41c when the robot 13 boards the elevator car 12, by including the information in the two-dimensional code 60 as fourth code information.

[0101] The two-dimensional code 60 generated by the generation unit 41d is displayed on a monitor 72 in the car 12 and monitors 74 at the landings 17a, 17b, 17c, 17d, etc., via the I / F units 43a and 43b. The two-dimensional code 60 generated by the generation unit 41d is projected at a predetermined position by a projector 73 in the car 12 and a projector 75 at each of the landings 17a, 17b, 17c, 17d, etc., via the I / F units 43a and 43b.

[0102] In such a configuration, a two-dimensional code 60 having code installation information and elevator structure information is usually generated by the elevator control device 11 (generation unit 41d) and projected or displayed inside the car 12 and on the landings 17a, 17b, 17c, 17d, etc. of each floor. The robot 13 performs position correction processing based on the information and shape of this two-dimensional code 60, similar to the first embodiment.

[0103] Here, just before the elevator 12 that responded to the boarding request signal transmitted from the robot 13 arrives at the platform, the boarding position detection unit 41c detects the boarding position of the user in the elevator 12. The generation unit 41d generates a two-dimensional code 60 including information indicating the boarding position of the user detected by the boarding position detection unit 41c (hereinafter, boarding position information), and projects or displays it again in the elevator 12 and at the platforms 17a, 17b, 17c, 17d, ... on each floor.

[0104] As a result, when the door of the car 12 opens, the robot 13 can determine the boarding position of the user from the boarding position information read from the two-dimensional code 60, and the user can smoothly board the car 12 in an available space.

[0105] As described above, according to the second embodiment, when the robot 13 gets into the car 12, the two-dimensional code 60 including the boarding position information is projected or displayed. Therefore, even if the sensor 31 of the robot 13 cannot correctly detect the boarding position of the user in the car 12, the robot 13 can determine the boarding position of the user and smoothly board the car by simply reading the two-dimensional code 60.

[0106] Note that until the robot 13 arrives at the destination floor and disembarks, the generation unit 41d may successively generate the two-dimensional code 60 including the boarding position information of the user in the car 12, and project or display it in the car 12. As a result, even when disembarking, the robot 13 can determine the boarding position of the user from the boarding position information read from the two-dimensional code 60, and disembark smoothly from an empty space in the car 12.

[0107] In addition, in the above explanation, the two-dimensional code 60 is displayed or projected on all of the monitors 72, 74 and projectors 73, 75, but it is sufficient to display or project the two-dimensional code 60 on at least one of the monitors 72, 74 and projectors 73, 75.

[0108] According to at least one of the embodiments described above, an elevator system can be provided that corrects the discrepancy between the position coordinates that the robot recognizes as its current position and its actual position, allowing the robot to smoothly get on and off the elevator car.

[0109] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0110] 10...communication network, 11...elevator control device, 13...robot, 14...building, 15...rope, 16...hoistway, 17a to 17d...landings, 18a to 18d...landing call buttons, 19...monitor, 20...car operation panel, 20a...display, 21...three-sided frame, 22...sill, 23...floor surface, 24a, 24b...landing door panel, 25a, 25b...car door panel, 26a...front pillar, 27...back, 31...sensor, 32...camera, 33...communication device , 41...control unit, 41a...door opening / closing control unit, 41b...driving control unit, 41c...boarding position detection unit, 41d...generation unit, 42...communication unit, 43a, 43b...I / F unit, 44...memory unit, 44a...call management table, 44b...robot management table, 51...control unit, 51a...position detection unit, 51b...code reading unit, 51c...position correction unit, 51d...movement control unit, 52...operation unit, 53...display unit, 54...memory unit, 55...drive unit, 60...two-dimensional code.

Claims

1. In an elevator system in which the movement of an autonomous robot is linked to the operation of an elevator car, The robot comprises: a position detection means for detecting position coordinates indicating a position of the robot on a predetermined map; a code reading means for reading information of a two-dimensional code at an arbitrary location in the elevator or at a platform near an entrance / exit of the elevator through a camera provided on the robot; a position correction means for correcting a deviation between the position coordinates detected by the position detection means and an actual position, based on information of the two-dimensional code read by the code reading means and the shape of the two-dimensional code captured by the camera; a movement control means for controlling the movement of the robot when the robot gets on and off the elevator based on the position coordinates corrected by the position correction means; An elevator system equipped with

2. The information of the two-dimensional code includes first code information indicating a location where the two-dimensional code is installed, The position correction means is Based on the first code information, it is determined where the robot is located in the elevator or at the platform, and based on the shape of the two-dimensional code visible from the location where the robot is located, the robot is moved in a direction that eliminates the deviation between the position coordinates and the actual location.

2. The elevator system of claim 1.

3. The information of the two-dimensional code includes second code information indicating a size and a position of the elevator structure existing in the vicinity of the installation location of the two-dimensional code, The movement control means reflecting a size and a position of the elevator structure in movement control of the robot based on the second code information; 2. The elevator system of claim 1.

4. The information of the two-dimensional code includes third code information for a user to access a predetermined site.

2. The elevator system of claim 1.

5. The two-dimensional code is projected by a projector into the car or onto the platform.

2. The elevator system of claim 1.

6. The two-dimensional code is displayed on a monitor installed in the elevator or at the platform.

2. The elevator system of claim 1.

7. The elevator is a boarding position detection means for detecting a boarding position of a user in the elevator; a generating means for generating the two-dimensional code including fourth code information indicating the boarding position of the user detected by the boarding position detecting means, The elevator projects the two-dimensional code generated by the generating means onto the inside of the elevator car or onto the landing by the projector.

6. The elevator system of claim 5.

8. The elevator is a boarding position detection means for detecting a boarding position of a user in the elevator; a generating means for generating the two-dimensional code including fourth code information indicating the boarding position of the user detected by the boarding position detecting means, The elevator displays the two-dimensional code generated by the generating means on the monitor.

7. The elevator system of claim 6.

9. The movement control means The riding position of the user is determined based on the fourth code information, and the robot is moved to an empty space in the elevator. An elevator system according to claim 7 or 8.

Images