Robot-linked elevator control system

Abstract

To disclose a robot-linked elevator control system that efficiently controls elevators that are operated in conjunction with robots that move autonomously within a building.SOLUTION: There are provided a method for designating the most efficient elevator car exclusively for a robot considering the traffic volume in a building, a method for reducing robot-human encounters, allocating elevator cars, and effectively switching elevator operation modes, and a specific method for setting robot boarding-related parameters for elevators that are set to allow robot use.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robot-linked elevator control system for efficient operation of an elevator that moves in conjunction with a robot that moves between floors in a building. [Background technology]

[0002] Elevators are installed in various buildings constructed for residential, business, commercial, etc., to allow passengers to move smoothly between floors when entering and exiting the building. Typically, an elevator is composed of an elevator car that moves along a hoistway formed vertically inside the building, a mechanical unit consisting of a motor that generates power to raise and lower the elevator car, a hoist, etc., and a control unit that controls the operation of the elevator.

[0003] In recent years, as services provided by robots in buildings become more common, the need for elevators to move robots between floors in buildings has increased. For example, many service robots that move around in buildings to carry things, clean, guide customers, and perform other tasks have been developed and are being put to practical use.

[0004] When tasks need to be performed on multiple floors, it may be necessary for a robot to move between floors in a building. Elevators are considered the most preferred means for robot movement between floors, and various interlocking control technologies between the robot and the elevator system have been developed to effectively move the robot to the destination floor. Summary of the Invention [Problem to be solved by the invention]

[0005] In recent years, as the robot market has grown rapidly, many service areas have been replaced by robots. In particular, there is a rapid trend towards automation using robots in buildings that provide customer service, such as hotels and residences. In order to expand the functionality of automated services using robots, vertical movement (movement between floors) within a building must be possible, and therefore linking the robots with the elevator system within the building is considered to be an essential requirement.

[0006] On the other hand, robots' use of elevators can cause inconvenience to ordinary passengers (people). For safety reasons or technical limitations, it may take longer for a robot to board and disembark than for ordinary passengers. As one example, ordinary passengers who are on the same departure floor as a robot waiting for elevator service at the boarding area may be delayed by the robot. As another example, ordinary passengers who are on the same destination floor as a robot in the same elevator may be delayed by the robot.

[0007] If it takes a long time for a robot to board and disembark, elevator operation may be delayed, which may result in longer wait times for general passengers waiting for the elevator at the landing on another floor. For the same reason, general passengers who are traveling to a different floor than the robot riding in the same elevator may arrive at their destination floors later than normal. If a robot malfunctions at the landing or inside the elevator, or if a collision occurs between a general passenger and a robot, the above-mentioned service delay problem may become more serious.

[0008] In order to address the above issues, the operation modes of the elevators installed in the building are divided into robot-only mode, general passenger-only mode, and elevator-only mode according to the purpose and operation characteristics of the elevators. The robot can be operated in two modes: a passenger mode in which it can be used by both the robot and regular passengers at the same time, and a shared-ride mode in which it can be used by both the robot and regular passengers at the same time.

[0009] An elevator set in robot-only mode can provide a call service only to robots, an elevator set in general passenger-only mode can provide a call service only to general passengers (people), and an elevator set in passenger mode can provide a call service to both robots and general passengers.

[0010] In this case, since elevators with different operation mode settings are used by different entities, it is preferable that elevator operation characteristics according to the operation mode are also applied separately. However, if a consistent standard is applied regardless of the operation mode, it becomes difficult to reflect the different operation characteristics according to the operation mode in the elevator control and operation, which causes deviations in elevator operation in various situations and hinders efficient elevator operation.

[0011] In this regard, the present invention aims to provide a detailed operation method that can improve the disadvantages of each operation mode of an elevator system operated in conjunction with a robot, including a robot only mode, a general passenger only mode, and a robot / general passenger shared mode, and to provide more convenient and comfortable services to not only general passengers but also customers who use robot services provided within a building.

[0012] In addition, the present invention provides a method for designating an efficient elevator number as a robot-only elevator in consideration of the traffic volume within the building when a request occurs to set a robot-only mode for some of the elevators installed in a building.

[0013] In addition, the present invention provides a method for effectively switching the operation mode of an elevator installed in a building by dividing the elevators into a robot-only mode, a general passenger-only mode, and a passenger mode, and reducing encounters between robots and general passengers and service delays when a request to switch the operation mode for a specific elevator occurs.

[0014] In addition, the present invention provides a method for reducing encounters between robots and general passengers even in modes in which robots and general passengers can ride together by subdividing the riding mode in which robots and general passengers can ride together into lower modes and assigning different statuses to robots and general passengers for each mode.

[0015] Meanwhile, if several robots are mounted in one elevator that is set up to allow the use of robots, accidents such as collisions between general passengers and the robots at the landing or inside the elevator, or collisions between robots may occur. The boarding and alighting times of the robots, which are relatively slower than those of general passengers, may increase the waiting time at the landing and the boarding time of general passengers, resulting in the above-mentioned service delay problem, which may decrease the efficiency of handling elevator traffic in the building and increase the inconvenience felt by general passengers.

[0016] In order to prevent the above problems, the present invention provides a method for setting robot boarding related parameters (occupancy rate, maximum number of robots that can provide service, etc.) of an elevator that is set to allow the use of a robot, thereby providing more convenient and comfortable service to general passengers and customers who use robot services provided within a building, and improving the overall operating efficiency of the elevator system operated in conjunction with the robot.

[0017] The technical problem of the present invention is not limited to the technical problems mentioned above, and Other technical problems can be clearly understood by those skilled in the art from the following description. [Means for solving the problem]

[0018] According to one aspect of the present invention to achieve the above object, there is provided a robot-linked elevator control system including: a plurality of elevators operated in conjunction with a robot that moves autonomously within a building; and an elevator system unit that controls operation of the elevators installed in the building, the plurality of elevators being operated in any one of an operation mode in which only the robot can be used, a general passenger only mode in which the robot is prohibited from riding, and a passenger mode in which the robot and a person are allowed to ride together, for each elevator; the elevator system unit including a group management unit that performs group management of the plurality of elevators, wherein, when designating at least one elevator among the plurality of elevators to the robot-only mode, the group management unit calculates a traffic volume evaluation index by referring to call information already registered on each individual elevator of the plurality of elevators, and designates an elevator having the least traffic volume to the robot-only mode based on the traffic volume evaluation index, and, when a request for changing the operation mode is generated for the elevator, the group management unit delays or immediately processes the change in the operation mode, taking into consideration a possibility of an encounter between a robot and a person.

[0019] The traffic volume evaluation index may include information on an average waiting time representing an average value of a scheduled time elapsed until the service of each call request already registered on each elevator car at a particular time point is completed, and information on a maximum waiting time representing a scheduled time elapsed until the service of all call requests already registered on each elevator car at a particular time point is completed.

[0020] The group management unit can derive a final evaluation value in the form of a score based on the average waiting time and the maximum waiting time, and designate the robot number with the lowest final evaluation value to the robot-only mode.

[0021] The group management unit can set, for an elevator among the plurality of elevators for which the designation of the robot-only mode has been decided, the elevator number so that it can be assigned to a robot call immediately after the elevator number is designated to the robot-only mode, or can set the elevator number so that it can be assigned to a robot call from the time when service of a call request by a general passenger already registered in the elevator number is completed.

[0022] The group control unit, immediately after designating the robot-only mode, When an elevator is configured to be assignable to a robot call, a call request by a general passenger that is already registered in the elevator can be canceled, and a different elevator can be reassigned to the call request by the general passenger.

[0023] The group management unit can immediately switch the operation mode of the corresponding elevator machine when a request for switching from another mode to the passenger mode is made, can delay the operation mode switching until all services for calls of general passengers excluding robots already registered in the corresponding elevator machine are completed when a request for switching from another mode to the general passenger-only mode is made, and can delay the operation mode switching until all services for calls of robots already registered in the corresponding elevator machine are completed when a request for switching from another mode to the general passenger-only mode is made.

[0024] The group management unit may be configured to immediately allocate a corresponding elevator car to all call requests for robots and general passengers when a request for switching from another mode to the passenger mode occurs.

[0025] The group management unit may be configured such that, when a request for switching from another mode to the robot-only mode occurs, the corresponding elevator car can be assigned only to call requests for the robot after all services for calls of general passengers already registered in the corresponding elevator car are completed.

[0026] When a request for switching from another mode to the robot-only mode occurs, the group management unit can allocate and exclude the corresponding elevator car to a newly generated general passenger call.

[0027] When a request for switching from another mode to the general passenger-only mode occurs, the group management unit can set the corresponding elevator car so that it can be allocated only to call requests for general passengers after all services for robot calls already registered in the corresponding elevator car are completed.

[0028] When a request for switching from another mode to the general passenger-only mode occurs, the group management unit can allocate and exclude the corresponding elevator car to a newly generated robot call.

[0029] The ride-along mode can be divided into a general ride-along mode, in which calls made by the robot and calls made by the human are treated as equal objects; a robot-dominant ride-along mode, in which an "allocation suppression weighting value" is imposed on calls made by general passengers to give priority to calls made by the robot; and a general passenger-dominant ride-along mode, in which an "allocation suppression weighting value" is imposed on calls made by the robot to give priority to calls made by the human.

[0030] When an elevator car set to the general passenger mode is assigned by a robot call, the group management unit may temporarily switch the corresponding elevator car to the robot-dominant passenger mode.

[0031] When the service for the robot call of the elevator car that has been automatically switched to the robot-dominant passenger mode is completed, the group management unit may return the corresponding elevator car to the general passenger mode.

[0032] When an elevator car set to the general passenger sharing mode is assigned due to a person's call, the group management unit may temporarily switch the corresponding elevator car to the general passenger priority passenger sharing mode.

[0033] When the service for the person call of the elevator car that has been automatically switched to the general passenger priority shared ride mode is completed, the group management unit can return the corresponding elevator car to the general passenger priority shared ride mode. Effect of the Invention

[0034] According to the present invention, in an elevator system operated in a robot-only mode, a general passenger-only mode, and a passenger mode, detailed operation methods are presented that can improve the shortcomings of each operation mode, thereby providing more convenient and comfortable services to general passengers and customers who use robot services provided within buildings, thereby improving the overall operation efficiency of the elevator system controlled in conjunction with the robot.

[0035] In addition, the present invention is divided into a robot-only mode, a general passenger-only mode, and a passenger mode. In an elevator system operated by a robot, a method for setting parameters related to the robot's riding on the elevator, such as setting a occupancy rate for robots and a occupancy rate for general passengers separately and limiting the maximum number of robots that can be serviced depending on the elevator number set to allow the robot to use, is specifically presented.

[0036] According to the present invention, it is possible to reduce service delays caused by collisions between robots and general passengers or collisions between robots, and to provide more convenient and comfortable services to not only general passengers but also customers who use robot services, thereby significantly improving the overall operating efficiency of elevator systems controlled in conjunction with robots.

[0037] The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description. [Brief description of the drawings]

[0038] [Figure 1] FIG. 1 is a schematic diagram of a robot-linked elevator system according to the present invention.

[0039] [Diagram 2] FIG. 2 is a diagram showing a method for setting a occupancy rate for each operation mode of the robot-linked elevator system according to the present invention.

[0040] [Diagram 3] FIG. 3 is a diagram showing a method of allocating elevators to robot calls in the robot-linked elevator system according to the present invention. BEST MODE FOR CARRYING OUT THEINVENTION

[0041] The objectives, technical configuration, and details of the operation and effects of the present invention can be more clearly understood from the detailed description of the present invention in conjunction with the drawings attached to the specification of the present invention.

[0042] The terms used in this specification are merely used to describe certain embodiments and are not intended to limit the present invention. For example, terms such as "comprise" or "include" used in this specification should not be interpreted as including all of the various components or steps described in the invention, but should be interpreted as not including some of the components or steps, or as including additional components or steps. In addition, the singular expression used in this specification includes the plural expression unless the context clearly indicates otherwise.

[0043] Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. The embodiments described below are provided to enable those skilled in the art to easily understand the technical concept of the present invention, and should not be construed as limiting the present invention. It is obvious that the embodiments of the present invention can have various applications for those skilled in the art.

[0044] FIG. 1 is a schematic diagram of a robot-linked elevator system according to the present invention.

[0045] Referring to FIG. 1, the robot-linked elevator system according to the present invention can be configured to include a robot system unit 10 that controls and manages the operation of a robot that moves autonomously within a building, and an elevator system unit 20 that controls and manages the operation of an elevator installed in the building and communicates with the robot.

[0046] The robot system unit 10 and the elevator system unit 20 are operated independently of each other, and when the robot needs to move between floors in a building, they communicate with each other so that the robot can use the elevator. It can be believed.

[0047] The robot system unit 10 can control all the robots that move autonomously within the building, and can communicate with each robot to achieve this. The robot system unit 10 can also receive requests for robot services that occur within the building, and can designate a specific robot that provides the corresponding service in response to the received request. Here, the "robot service" refers to a service provided by a robot, and may refer to a service that a robot provides by visiting a customer directly.

[0048] In the present invention, a robot can be a collective term for all autonomous mobile objects that can move autonomously within a building without being operated by a human. For example, the robot is a service robot that performs specific tasks such as transporting and delivering items such as parcels within a building, or cleaning or customer guidance, and can provide necessary services to customers within the building under the control of the robot system unit 10.

[0049] The robot can recognize the space inside a building and move autonomously through simultaneous localization and mapping (SLAM) technology based on information collected using lidar, short-range sensors, ultrasonic sensors, or cameras.

[0050] The robot can also store information about the internal / external structure of the building and the location of elevators within the building through its own database, and can use its internal algorithm to determine the optimal distance and movement route from its current location to the elevator, calculated in real time using its self-localization technique.

[0051] The robot can remotely request an elevator to be called. When a customer's request for a robot service is received in a building, the robot system unit 10 can designate a specific robot to provide the corresponding service from among the many robots operating in the building. If the designated robot is on a different floor from the floor on which the service is requested, it can transmit a "boarding request" signal to the elevator system unit 20 to call an elevator to move to the service floor.

[0052] The information included in the "boarding request" includes information on the departure floor where the robot is currently located and information on the destination floor to which the robot will ultimately move, and may further include information on the travel time required for the robot to reach the boarding area, the weight and volume of the robot, the purpose of using the elevator, etc. The travel time required for the robot to reach the boarding area can be calculated based on the current position of the robot.

[0053] When a remote call for the robot is accepted, the group control unit 21 of the elevator system unit 20, which will be described later, can determine and assign the optimal elevator number for providing boarding service to the robot.

[0054] An elevator unit refers to the ID of the elevator shaft, and one unit may have one car or multiple cars.

[0055] The elevator system unit 20 may be configured to include a group management unit 21 that performs group management of multiple elevators installed in a building, and a control unit 22 that performs control related to the operation of the elevators.

[0056] The group control unit 21 is a device for controlling a large number of elevators installed in a building in order to operate the elevators more efficiently. It performs group control on the various floors in the building, and can determine and assign the most suitable elevator number to calls made using call buttons installed at the landings on each floor or destination floor input buttons installed inside the elevator car, calls made remotely using another system or terminal such as a Destination Selecting System (DSS), and remote calls made by a robot.

[0057] In this specification, a call that commands an elevator car assigned to a call made by a passenger or robot at a landing to go to a destination floor (target floor) to move to the floor where the passenger or robot is waiting is called a hall call, and a call that commands an elevator car that has arrived in response to a hall call to move to the destination floor where the passenger or robot is going is called a car call.

[0058] In addition, the group management unit 21 can determine and allocate the most efficient elevator number in response to a call request for a robot through a correlation analysis between the traffic volume in the building and the location information of multiple available elevator numbers and the robot. More specifically, the group management unit 21 can detect status information related to the occupancy rate or remaining capacity of multiple elevator numbers operating in the building, extract available elevator numbers that the robot can board based on information such as the weight and volume of the robot included in the boarding request information received from the robot, and allocate the optimal elevator number by considering the location of the extracted available elevator number and the location of the robot. Here, when considering the location of the robot, not only the location of the call floor (departure floor) where the robot has requested to board, but also information regarding the time required for the robot to move from its current location to the boarding platform can be considered.

[0059] The group control unit 21 can provide the assigned elevator car and its corresponding landing information to the robot and robot system unit 10 that requested the call service.

[0060] The control unit 22 controls the overall operation and behavior of the elevators, and can perform control to move the elevator car assigned by the group control unit 21 to the floor for which the call has been input.

[0061] The control unit 22 may include a travel control unit that controls the travel operation of the elevator car, a door control unit that controls the opening and closing of the doors of the elevator stopped at a specific floor to allow passengers and robots to get on and off, and the like.

[0062] The travel control unit can control the operation of raising and lowering the elevator car in a hoistway formed vertically inside a building, and can control the drive of the hoist motor, brakes, etc. to start and stop the elevator car travel in response to specific command signals.

[0063] The door control unit controls the overall opening and closing operations of elevator doors, including the hall door installed on the landing side and the car door installed on the elevator car side, and can control the driving of the door motor for this purpose.

[0064] Meanwhile, the robot-linked elevator system of the present invention can operate elevators installed in a building by dividing their operation modes into "robot-only mode," "general passenger-only mode," and "robot / general passenger shared mode" (hereinafter referred to as "shared mode").

[0065] The robot-only mode is a mode that is set so that only robots can ride in the elevator, and an elevator set in the robot-only mode can provide a call service only to robots.

[0066] The general passengers only mode is a mode set to perform a paging service only for general passengers. In this case, items, objects, or animals carried by the general passengers may be loaded into the elevator.

[0067] The passenger mode allows robots and general passengers (people) to ride together in the elevator, and when the elevator is set to the passenger mode, a call service can be provided to both general passengers and robots.

[0068] An operation mode may be set for each of a number of elevators installed in a building. The operation mode of each elevator may be set to automatic or manual as necessary. For example, the operation mode of an elevator may be set to reflect the traffic characteristics in the building, and if a change in operation mode is required based on traffic monitoring, the operation mode of a specific elevator may be changed automatically by the system's own judgment or manually by an administrator. In addition, the operation mode setting of an elevator may be planned in advance according to a time schedule to reflect the traffic characteristics by time period in the building.

[0069] Meanwhile, in an elevator system in which operation modes are divided into a robot-only mode, a general passenger-only mode, and a passenger-only mode as described above, in order to eliminate the inconvenience caused to general passengers when using a robot elevator and to prevent delays in service, it is necessary to control elevator operation taking into account the characteristics of each operation mode.

[0070] Hereinafter, detailed operation methods for improving the disadvantages of each operation mode of an elevator system operated in conjunction with a robot, including a robot-only mode, a general passenger-only mode, and a passenger mode, will be specifically presented.

[0071] 1. How to set up robot-only mode

[0072] When some of the elevators installed in a building are set to robot-only mode, the elevators, which can be considered a limited shared resource within the building, are set to be available only to robots, which means that the number of elevators providing service to general passengers (people) will be reduced accordingly.

[0073] In addition, when elevators in a building are set to robot-only mode, if an elevator is randomly selected and designated as a robot-only elevator, it could increase the waiting time at the boarding area and the elevator boarding time of general passengers, which could lead to traffic congestion within the building.

[0074] In response to this, the present invention provides a method for designating the most efficient elevator car, taking into account the traffic volume within the building, as the robot-only car when the need arises to set the elevators in a building to a robot-only mode.

[0075] Specifically, the group control unit 21 of the elevator system unit 20 according to the present invention analyzes variables such as the traffic volume within the building and the frequency of use of each elevator car, and can prioritize the elevator car with the least available capacity based on the analysis and set it to robot-only mode.

[0076] More specifically, the group management unit 21 can refer to the hall call / car call information already registered on each individual elevator of the numerous elevators installed in the building, and calculate traffic volume evaluation indexes such as the average waiting time and maximum waiting time of the relevant elevator.

[0077] Here, the "average waiting time" may mean the average value of the expected time to elapse until the completion of service for each hall call and car call already registered in a machine at a specific time, and the "maximum waiting time" may mean the expected time to elapse until the completion of service for all hall calls and car calls already registered at a specific time, that is, the maximum value among the expected time to elapse until the completion of service for each hall call and car call already registered.

[0078] The group management unit 21 derives a final evaluation value by referring to the calculated traffic volume evaluation index for each individual vehicle, and designates the vehicle with the lowest evaluation value as the vehicle dedicated to the robot. Here, the evaluation value is a value expressed as a score calculated based on the average waiting time and the maximum waiting time, and the lower the evaluation value, the lower the traffic volume of the vehicle.

[0079] That is, according to the present invention, the elevator car with the least traffic (the least crowded) can be set to the robot-only mode through monitoring of traffic volume within the building.

[0080] In addition, the group management unit 21 can take into consideration who input the hall call / car call, that is, the input source, when calculating the traffic volume evaluation index. This means that the traffic volume evaluation index can be calculated for the overall traffic volume or the traffic volume of general passengers according to the value pursued by the system administrator, and a robot-dedicated vehicle can be selected based on this.

[0081] For example, if you want to designate the car with the least amount of overall traffic as a robot-only car, regardless of the input source (whether it is a call by a robot or a human), you can calculate the average and maximum waiting times for all hall calls / car calls made and registered by robots and general passengers. If you want to designate the car with the least amount of general passenger traffic excluding robots as a robot-only car, you can calculate the average and maximum waiting times for only hall calls / car calls made and registered by general passengers.

[0082] The group management unit 21 can recognize the remaining calls, excluding remote calls by robots and calls input from the robot system unit 10, as hall calls / car calls by general passengers.

[0083] Meanwhile, the group management unit 21 may further include a calculation unit that calculates the traffic volume evaluation index and evaluation value based on hall call / car call information already registered on each elevator car at the current time.

[0084] In addition, the traffic volume evaluation index calculated by referring to the hall call / car call information registered on the elevator car and information on the actual time required can be stored and managed in a database. The calculation unit can perform machine learning on the past accumulated data stored in the database to build a learning model that calculates the traffic volume evaluation index including the average waiting time and the maximum waiting time from the hall call / car call information currently registered on each elevator car.

[0085] In addition, the calculation unit can grasp the traffic characteristics by time period / day of the week / elevator number through machine learning of past data. The group management unit 21 automatically schedules the robot-only mode setting of a specific elevator number based on the information established through machine learning. It is also possible.

[0086] For example, through machine learning of past data, meaningful data can be accumulated, such as the number of robots using elevators in a building at a particular time or on a particular day of the week, or the frequency of use of robots using a particular elevator car, etc. Based on this, the group management unit 21 can plan and establish the setting of a robot-only mode for an elevator car.

[0087] However, even if the robot-only mode of elevators in a building is scheduled in advance, if traffic volume different from normal is expected due to a specific event, the corresponding setting can be changed manually. For example, according to a preset schedule, two elevators are expected to be designated for robots only during a specific time period, but if a temporary increase in visitors is expected due to an event such as an academic conference or performance being held in the building, the number of elevators set to the robot-only mode can be reduced from two to one.

[0088] In other words, it is possible to simultaneously perform automatic and manual settings for specifying the robot-only mode for elevators in a building.

[0089] Meanwhile, when it is decided to designate a specific elevator to the robot-only mode, the group control unit 21 can make the elevator available for allocation to a robot call from the point in time when all hall calls / car calls for general passengers already registered in the elevator (registered in the previous mode) have been serviced. Also, the group control unit 21 can set the elevator to be available for allocation to a robot call immediately after designating the elevator to the robot-only mode. In the latter case, the hall calls for general passengers already registered can be cleared (canceled and reassigned to another elevator) so that service can be provided only to robots.

[0090] This is to minimize the chance of encounters between robots and general passengers (people) who are currently or will be boarding the elevator in question during the process of switching to robot-only mode. When attempting to switch a specific elevator to robot-only mode, the time of the switch can be set as an option in advance, which will be explained in more detail in the "Method of switching between operation modes" below.

[0091] 2. How to switch between operation modes

[0092] As described above, the operational mode of elevators in a building may be switched as needed or according to a pre-specified time schedule.

[0093] In this case, at the request of the robot system unit 10, the group control unit 21 can switch the elevator operation mode from robot-only mode to general passenger-only mode or passenger mode, from general passenger-only mode to robot-only mode or passenger mode, or from passenger mode to robot-only mode or general passenger mode.

[0094] The elevator operation modes of the present invention as described above are set by changing the entity using the elevator for each mode. Therefore, when switching between operation modes, the entity using the corresponding elevator may also change. If the elevator operation mode is switched immediately without considering such a change in the entity using the elevator, the robot and general passengers may encounter each other during the switching process, which may cause traffic congestion.

[0095] [Table 1]

[0096] Table 1 above shows the control logic when the elevator operation mode of the robot-linked elevator system according to the present invention is changed.

[0097] Hereinafter, with reference to Table 1, the control logic when the elevator operation mode is switched will be described in detail for each case depending on which mode is switched to which mode.

[0098] (1) Case 1: Robot-only mode → General passenger-only mode

[0099] When a request for switching from the robot-only mode to the general passenger-only mode for a specific elevator occurs, in order to prevent encounters between robots and general passengers, the group management unit 21 can delay the switching of the elevator to the general passenger-only mode until all hall call / car call services for the robot registered in the robot-only mode (previous mode) have been completed.

[0100] In addition, from the time when a conversion request is made until the conversion to the general passenger-only mode is actually completed, a new robot call request is allocated to the corresponding elevator car and processed for exclusion, thereby preventing a slow conversion to the general passenger-only mode.

[0101] After the mode change is complete, the elevator will be operated in passenger-only mode and may be de-allocated to respond to robot call requests.

[0102] (2) Case 2: Robot-only mode → Passenger mode

[0103] When a request for switching from the robot-only mode to the passenger mode for a specific elevator occurs, the group management unit 21 can immediately switch the corresponding elevator to the passenger mode so that it can be assigned to all call requests for robots and general passengers.

[0104] (3) Case 3: General passenger mode → Robot mode

[0105] When a request for switching from the general passenger only mode to the robot only mode is made for a specific elevator, in order to prevent encounters between robots and general passengers, the group management unit 21 can delay the switching of the elevator to the robot only mode until all hall call / car call services for general passengers registered in the general passenger only mode (previous mode) have been completed.

[0106] In addition, from the time when a conversion request is made until the conversion to the robot-only mode is actually completed, a new general passenger call request is allocated to the corresponding elevator car and processed for exclusion, thereby preventing a slow conversion to the robot-only mode.

[0107] Once the mode change is complete, the elevator will operate in robot-only mode and may be excluded from allocation to respond to calls from general passengers.

[0108] (4) Case 4: General passenger only mode → Passenger mode

[0109] When a request for switching a specific elevator from a general passenger-only mode to a passenger mode occurs, the group management unit 21 immediately switches the corresponding elevator to the passenger mode so that it can be assigned to all call requests for robots and general passengers.

[0110] (5) Case 5: Passenger mode → Robot-only mode

[0111] When a request for switching from the passenger mode to the robot-only mode for a specific elevator occurs, in order to prevent encounters between a robot making a call request after the operation mode is switched and general passengers who are currently receiving or scheduled to receive a call service, the group management unit 21 can delay the switching of the elevator to the robot-only mode until all hall call / car call services for general passengers registered in the passenger mode (previous mode) have been completed.

[0112] In addition, from the time when a switch request is made until the switch to the robot-only mode is actually completed, a newly generated general passenger call request is assigned to the corresponding elevator car and the corresponding elevator car is excluded from the request, thereby preventing delays in the switch to the robot-only mode.

[0113] Once the mode change is complete, the elevator will operate in robot-only mode and may be excluded from allocation to respond to calls from general passengers.

[0114] (6) Case 6: Passenger mode → General passenger only mode

[0115] When a request for switching from the passenger mode to the general passenger only mode for a specific elevator occurs, it is necessary to prevent encounters between general passengers who make a call request after the operation mode is switched and robots that are currently providing or scheduled to provide a call service. For this reason, the group management unit 21 can delay the switching of the elevator to the general passenger only mode until all hall call / car call services for robots registered in the passenger mode (previous mode) have been completed.

[0116] In addition, from the time when a switch request is made until the switch to the general passenger-only mode is actually completed, a newly generated robot call request is assigned to the corresponding elevator car and the corresponding elevator car is excluded from the allocation, thereby preventing delays in the switch to the general passenger-only mode.

[0117] Once the mode change is complete, the elevator will operate in passenger-only mode and may be de-allocated to respond to robot call requests.

[0118] To sum up, the robot-interlocking elevator system of the present invention can delay or immediately switch the operation mode of the elevator unit depending on which mode is being switched from to which mode.

[0119] More specifically, the present invention can instantly switch the elevator operation mode without special processing when switching to a shared passenger mode that allows both robots and general passengers (people). On the other hand, when there is a possibility of an encounter between a robot and general passengers when switching the elevator operation mode (Cases 1, 3, 5, and 6 above), the present invention is characterized in that the switching of the operation mode is delayed. When the switching of the operation mode is delayed, the input source is taken into consideration and it is confirmed whether all hall calls / car calls that have already been registered have been cleared, and the switching of the operation mode is not performed until all services have been completed.

[0120] The present invention is not necessarily limited thereto, and instantaneous conversion is also possible when converting an elevator to another operation mode other than the passenger mode. However, even in this case, control may be performed to clear (cancel and reassign to another elevator) existing hall calls in order to reduce encounters between robots and general passengers.

[0121] Specifically, when the elevator is immediately switched from the general passenger only mode or the passenger mode to the robot only mode, the hall calls for general passengers that have already been registered can be cleared and reassigned to another elevator car that is currently providing services to general passengers.

[0122] Conversely, when the robot-only mode or passenger mode is immediately switched to the general passenger-only mode, the hall call of the robot that is already registered can be cleared and reassigned to another elevator that is currently serving the robot target.

[0123] In addition, whether the elevator operation mode is changed over with a delay or immediately can be set as an option in advance.

[0124] 3. Subdivision of passenger modes and operation methods

[0125] The present invention further subdivides and classifies the riding mode, which allows both robots and general passengers (people) to ride at the same time, into three sub-modes, and for new calls that occur after a robot call or general passenger call is registered in an elevator machine operating in the riding mode, the robot and general passengers can be assigned with different statuses.The present invention provides a robot-linked elevator system that can reduce encounters between robots and general passengers even in elevators that allow both robots and general passengers to ride at the same time.

[0126] Specifically, in the present invention, the passenger mode can be classified into three sub-modes, namely, a "general passenger mode", a "robot-dominated passenger mode" and a "general passenger-dominated passenger mode". The elevator number allocation control logic according to each mode will be described in detail below.

[0127] (1) General passenger mode

[0128] In the general passenger mode, robots and general passengers (people) are treated as equal objects. In other words, robots and general passengers have equal status, and allocation can be carried out without any difference between calls made by robots and calls made by general passengers. However, this means that there is no difference in allocation between robots and general passengers, and does not mean that the occupancy rate for robots and general passengers must be set to the same value, but rather that the allocation for robots and general passengers must be set to the same value. The occupancy rates of each vehicle can be set separately.

[0129] (2) Robot-dominant ride-along mode

[0130] An elevator set to robot-dominant shared mode can serve both robots and general passengers. On the other hand, when servicing robot calls, an "allocation suppression weight" can be imposed on general passenger calls.

[0131] In other words, the robot-dominant ride-along mode is a mode in which the status of the robot is set higher than that of general passengers, and allocation restrictions are imposed on calls for general passengers, thereby eliminating calls to general passengers as much as possible and providing a robot-centered call service.

[0132] "Allocation suppression" does not mean eliminating all newly occurring calls 100%, but rather, when performing the allocation algorithm for new calls, the priority of the relevant unit is lowered by imposing an "allocation suppression weighting value" on it, thereby preventing it from being allocated as much as possible (the same applies below).

[0133] The group control unit 21 can impose an "allocation suppression weighting value" for general passenger calls on elevators operating in the robot-dominant shared ride mode, on elevators in which a hall call or car call has been registered by a robot call. This can prevent robots and general passengers from mixing elevators until all call services for robots are completed (when the car call service for the last robot to board is completed).

[0134] After all services for the robot are completed, the "allocation suppression weight" for general passengers can be removed. In other words, when a robot call is registered for an elevator operating in general passenger mode, the elevator can be automatically set to robot-dominant passenger mode temporarily, and then, after all hall call / car call services for the robot are completed, it can be set back to general passenger mode again.

[0135] (3) General passenger-oriented shared ride mode

[0136] The general passenger-dominant shared ride mode can be controlled in the opposite manner to the robot-dominant shared ride mode described above. An elevator set in the robot-dominant shared ride mode can essentially serve both robots and general passengers, but when servicing a general passenger call, it can impose an "allocation suppression weight" on the robot call.

[0137] In other words, the general passenger priority ride-along mode is a mode in which the status of general passengers is set higher than that of robots, and allocation restrictions are imposed on robot calls, thereby minimizing calls to robots as much as possible and providing a call service that is centered on general passengers.

[0138] The group control unit 21 can impose an "allocation suppression weighting value" for robot calls on elevators operating in the general passenger priority shared ride mode, where a hall call or car call has been registered due to a general passenger call. This can reduce the occurrence of mixed use of elevators by robots and general passengers until all call services for general passengers are completed (when the car call service for the general passenger who boarded last is completed).

[0139] After all services for general passengers are completed, the "allocation suppression weight" for the robot can be removed. In other words, when a general passenger call is registered for an elevator operating in general passenger mode, the elevator can be automatically temporarily set to general passenger priority passenger mode, and then, after all hall call / car call services for general passengers are completed, it can be set back to general passenger mode again.

[0140] The imposition of the above-mentioned "allocation suppression weight" can be made optional by pre-setting.

[0141] 4. Setting robot-related parameters

[0142] As described above, elevators are operated in a robot-only mode, a general passenger-only mode, a passenger mode, etc., and different operating characteristics may be applied since the users are different for each operation mode.

[0143] The present invention provides a specific method for setting parameters related to robot boarding of an elevator so that different characteristics of robots and general passengers (people) can be reflected in elevator operation according to the operation mode, in which a plurality of elevators installed in a building are operated by setting the operation mode for each elevator to one of a robot only mode, a general passenger only mode, and a passenger mode, as described below.

[0144] (1) Setting the occupancy rate

[0145] FIG. 2 is a diagram showing a method for setting a occupancy rate for each operation mode of the robot-linked elevator system according to the present invention.

[0146] Referring to Fig. 2, first, the robot-linked elevator system according to the present invention can set the occupancy rate for robots and the occupancy rate for general passengers (people) separately. This is because the space occupied by one robot is usually larger than the space occupied by each general passenger, and the weight of the robot is heavier than the weight of a general passenger. By setting the occupancy detection standard for the robot lower than the occupancy detection standard for general passengers, it is possible to differentiate between the space that can be occupied by passengers and the space that can be occupied by the robot.

[0147] In the present invention, the occupancy rate for the robot can be set lower than that for general passengers, taking into consideration the weight, volume, action radius, safety distance, etc. of the robot. Here, the occupancy rate can be based on the load or space occupancy rate, which will be described in more detail later. The occupancy rate standard for the robot and the occupancy rate standard for general passengers are values ​​that can be changed depending on the specifications of the robot and the specification information of each elevator car.

[0148] In other words, the present invention can apply the "robot occupancy rate" or the "general passenger occupancy rate" to each elevator installed in a building depending on the mode it is operating in. The criteria for applying the occupancy rate according to the elevator operation mode are described below.

[0149] First, elevators set to robot-only mode can be operated with the application of a "robot occupancy rate" since users are limited to robots. Elevators set to robot-only mode can be allocated to robot calls based on the robot occupancy rate. For example, if a robot occupancy rate of 60% is applied, elevators with load or space occupancy rate of onboard robots exceeding 60% can be restricted or excluded from allocation to new robot calls. In addition, since the elevator is operating in robot-only mode, it can be excluded from allocation to general passenger calls.

[0150] Elevator numbers set to general passenger only mode can be operated with the "general passenger occupancy rate" applied since users are limited to general passengers (people). Elevator numbers set to general passenger only mode can be allocated to general passenger calls based on the general passenger occupancy rate. For example, if a general passenger occupancy rate of 80% is applied, elevator numbers with load or space occupancy rate by boarding general passengers exceeding 80% can be restricted or excluded from allocation to new general passenger calls. In addition, since the elevator is operating in general passenger only mode, it can be excluded from allocation for robot calls.

[0151] Finally, elevators set to the passenger mode can be operated based on both the robot occupancy rate and the general passenger occupancy rate, since they can provide services to both robots and general passengers (people). Elevators set to the passenger mode can be allocated based on the robot occupancy rate for robot calls, and based on the general passenger occupancy rate for general passenger calls.

[0152] In addition, in the present invention, the "occupancy rate" of an elevator can include the concepts of a "load occupancy rate" based on load (weight) and a "space occupancy rate" based on the occupied space area. The load occupancy rate is a value for restricting the total load of objects boarded in the elevator so as not to exceed a certain level, and the space occupancy rate is a value for restricting the total space area occupied by objects boarded in the elevator so as not to exceed a certain level.

[0153] Information regarding the load of an object inside an elevator can be detected by a load cell installed in the elevator car, and information regarding the spatial area occupied by an object inside an elevator can be detected by a vision device such as a camera or CCTV installed inside the elevator car.

[0154] For example, assuming that an elevator's "load occupancy rate" is set to 60%, if the passenger load (total weight of passengers) measured in real time by a load cell is detected to exceed 60% of the rated capacity (maximum design load), the elevator will be converted to a full load state, new boardings will be restricted until the passenger load of the elevator falls below 60% again, and allocation of new calls will be restricted or eliminated.

[0155] Similarly, assuming that the "space occupancy rate" of an elevator is set to 60%, if the space occupancy area (area occupied by passengers) detected by the vision device exceeds 60% of the total interior area of ​​the elevator, the elevator may be converted to a full state. Then, new boardings may be restricted until the interior space occupancy rate of the elevator falls below 60% again, and allocation of newly generated calls may be restricted or eliminated.

[0156] The above-mentioned "load occupancy rate" and "space occupancy rate" can be applied selectively or together. When both are applied together, the aircraft will be converted to a full state even if only one of the load occupancy rate or the space occupancy rate is exceeded.

[0157] Hereinafter, the "occupancy rate setting" of the robot-linked elevator system according to the present invention will be described with reference to a more specific embodiment.

[0158] First, assume an elevator system environment that performs group management of five elevators installed in a building. In this case, assume that among elevators 1 to 5, elevators 2 and 4 are set to a shared passenger mode that can service both robot calls and general passenger calls. The robot occupancy rate is set to 60%, and the general passenger occupancy rate is set to 80%.

[0159] If the total load inside the car of unit 2 due to passengers (including both robots and general passengers) is detected to be 70% during elevator operation, the unit still has a 10% margin for the occupancy rate of general passengers, but the occupancy rate of robots has been exceeded. In this case, the group control unit 21 can allocate unit 2 to calls for general passengers, but can exclude allocation to robot calls. Since unit 2 is still capable of servicing calls for general passengers, the fullness bypass is not applied. For new robot calls, the unit with the highest service efficiency is selected and allocated from units 1, 3, 4, and 5, excluding unit 2.

[0160] In other words, if an elevator is full based on the robot occupancy rate but not full based on the general passenger occupancy rate, the elevator will not be allocated any more to robot calls, but full occupancy bypass will not be applied.

[0161] Meanwhile, if the total load inside Unit 4's cage (passenger load) is detected to be 81%, the unit may exceed both its occupancy rate for robots and its occupancy rate for general passengers. Therefore, it bypasses hall calls (boarding calls) already assigned in the direction of Unit 4's travel. If a new call occurs in this situation, the unit that can provide the most efficient service can be selected and assigned from among the remaining units excluding Unit 4 that do not exceed the occupancy rate for the entity that input the call (robot or general passenger). Here, the hall calls that Unit 4 bypasses can also be reassigned to another unit as an option.

[0162] If an elevator is full based on the general passenger occupancy rate (in this case, it is full even based on the robot occupancy rate), a full-occupancy bypass is applied to the elevator. When a full-occupancy bypass is applied, it is also possible to suppress or exclude the allocation of the elevator.

[0163] As described above, according to the present invention, by applying different full-occupancy detection criteria to robots and general passengers, it is possible to ease full-occupancy bypass for general passengers and prevent a decrease in service efficiency.

[0164] (2) Limitation on the number of robots that can provide services

[0165] FIG. 3 is a diagram showing an elevator allocation method for a robot call in the robot-linked elevator system according to the present invention.

[0166] Referring to FIG. 3, the present invention is characterized in that it limits the number of robots that can service one elevator, thereby reducing collisions between robots and ordinary passengers using the elevator, or between robots, thereby preventing a decrease in the efficiency of handling elevator traffic in a building and service delays.

[0167] Specifically, the present invention can set the maximum number of robots that can service one elevator in consideration of a traffic pattern that is manually or automatically detected. This maximum number can be set by request from the robot system unit 10 to the group management unit 21, or can be set independently by the group management unit 21. In this case, the maximum number of robots that can service each mode can be set differently according to the elevator operation mode.

[0168] In addition, the robot-linked elevator system according to the present invention presents a "robot-only mode" and a "passenger mode" as operation modes that enable the use of the robot. In this case, the robot limit number in the robot-only mode can be set to be greater than the robot limit number in the passenger mode. In other words, an elevator car set in the robot-only mode can be set to be able to receive (board) a greater number of robots than an elevator car set in the passenger mode.

[0169] As described above, when the maximum number of robots that can provide service is set for each of the elevators in the building, the group management unit 21 can collect and analyze information in real time, such as "elevator specification information such as rated capacity and internal area," "general passenger load occupancy rate and / or space occupancy rate for each traffic pattern detected manually or automatically," "robot load occupancy rate and / or space occupancy rate for each traffic pattern detected manually or automatically," "hall call / car call information already registered for each elevator," "information on the number of robots and / or general passengers currently boarding each elevator," "information on the number of robots and / or general passengers scheduled to board according to the running direction of each elevator," and "specification information (volume, weight, etc.) of robots currently boarding or scheduled to board each elevator," to calculate the "available capacity," "available space," and "number of service robots" for each floor on the running route of the corresponding elevator.

[0170] Here, "capacity" refers to the load that can be added inside the elevator, "space" refers to the area of ​​additional space that can be occupied inside the elevator, and "number of service robots" refers to the number of robots that the elevator is providing hall call / car call services for, and can be calculated by including not only the robots inside the elevator but also the number of robots waiting at the elevator.

[0171] In addition, the above-mentioned "by traffic pattern" means that even in the same operation mode, the elevator occupancy rate can be set differently depending on the traffic pattern. For example, the characteristic that the traffic pattern in the building is formed differently depending on the time of day can be reflected in the elevator occupancy rate setting.

[0172] As a more specific example, the traffic volume of passengers using an elevator may differ depending on the time period of the day, such as the time when the person arrives at work, the time when the person leaves work, and the lunch time. The traffic volume may also differ depending on the direction of travel, such as the amount of upward traffic during the time when the person arrives at work and the amount of downward traffic during the time when the person leaves work. The present invention grasps and stores information on traffic patterns according to such time periods and travel directions in advance, and not only sets the occupancy rate separately for robots and general passengers as described above, but also sets different occupancy rates according to traffic patterns, thereby enabling flexible operation of multiple elevators installed in a building.

[0173] As described above, the group management unit 21 of the present invention can calculate and grasp in real time the "boarding capacity," "boarding space," and "number of service robots" for each floor on the travel route of each elevator operating within a building based on the various information described above.

[0174] In this state, when a robot call request occurs, the group management unit 21 selects elevators that are set to a robot-only mode or a passenger mode and can service the departure floor and destination floor of the robot, and whose available capacity and available space all match the specifications of the robot that requested the call, and configures them as a group of candidates that can be primarily assigned. In other words, taking into consideration the specifications of the robot, a group of elevator candidates that can accept the boarding of the robot that requested the call is extracted from among multiple elevators installed in the building.

[0175] In addition, the group management unit 21 determines whether the number of service robots expected to be on the floor immediately before the departure floor according to the running direction of the currently called robot to the destination floor, among the elevator car candidate group derived primarily, exceeds the maximum number of serviceable robots set for each elevator car. The system can then select elevators that cannot be assigned and reconfigure the group of elevator candidates that can be assigned. Unlike general passengers, robots can only be called remotely through the system, so there is a low chance of an unexpected call occurring along the way. Therefore, it is possible to predict the number of robots in service on the floor immediately before the departure floor of the robot that requested the call.

[0176] The group management unit 21 can determine the most efficient elevator from the reconfigured group of assignable elevator candidates by executing an assignment algorithm established independently, and assign it to the robot that has made the call request.

[0177] The group management unit 21 can calculate the number of robots that can be boarded by floor and direction on the travel route based on the current status information. On a floor where the number of robots that can be boarded is "0", the group management unit 21 can exclude the robot from being assigned to a new robot call.

[0178] As described above, the robot-linked elevator system according to the present invention can set the maximum number of robots that can provide service for each of the elevators installed in a building, grasp the available capacity, available space, and number of service robots for each elevator operating in the building, and allocate elevators to respond to robot calls by referring to such information. As a result, it is possible to effectively provide a robot-linked elevator service while flexibly responding to traffic patterns in the building within a range that does not cause inconvenience to general passengers.

[0179] In addition, the present invention first extracts a group of elevator car candidates that match the robot specifications, and then performs an allocation algorithm for elevator cars among them in which the number of robots in service does not exceed the maximum number of robots that can be serviced, which is set for each elevator car. This has the advantage that elevator service can be provided smoothly even for a wide variety of robots with mutually different specifications.

[0180] Meanwhile, when the total number of robots currently in service for a robot machine set to be available for use by a robot (i.e., an elevator machine set to robot-only mode and passenger mode) is equal to or exceeds a preset reference value, the elevator machine can perform allocation exclusion processing for a newly generated robot call. Here, the meaning of "currently in service" includes all cases in which a hall call / car call is serviced by a robot call, in other words, it should be interpreted as including not only the case in which a robot is on board the elevator machine, but also the case in which a robot is waiting for an assigned elevator machine at a landing.

[0181] In addition, when the elevator completes car call service for one or more floors via a robot call or when a hall call service request for one or more floors is canceled, the elevator can be set to be reassigned to a newly input robot call.

[0182] In other words, it is possible to detect how many robots are currently being serviced by one elevator, and if the number of robots receiving hall call / car call service is detected to be greater than a preset value, the elevator can be prevented from being further assigned to new robot calls.

[0183] In addition, when the same call floor and / or destination floor are input as a call for two or more robots, the number of robots assigned to the same elevator car can be limited to a predetermined value or less, and the robots can be distributed and assigned to multiple cars. At this time, the robot occupancy rate of each of the multiple elevators that can be assigned to the robot call is taken into consideration, and the occupancy rate is set to 0.001. Priority can be given to allocation in ascending order of unit number.

[0184] The robot-linked elevator system according to the present invention described above may include at least one processor embodied to execute computer readable instructions. The present invention may also be embodied as computer readable code on a computer readable recording medium. The computer readable recording medium includes all kinds of recording devices that store data that can be read by a computer system, such as ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

[0185] The present invention is not limited to the described embodiments, and it is obvious to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, such modifications and variations are considered to fall within the scope of the claims of the present invention. [Explanation of symbols]

[0186] 10: Robot Systems Department 20: Elevator Systems Division 21:Group Management Department 22: Control unit

Claims

1. Robots that navigate autonomously within buildings; and A plurality of elevators installed in the building, A robot-linked elevator system in which robot boarding parameters are set so that the occupancy rate for robots (robot occupancy rate) and the occupancy rate for people (people occupancy rate) are different for the multiple elevator cars.

2. The robot-linked elevator system in which the robot boarding parameters are set according to claim 1 , wherein the robot occupancy rate is set lower than the human occupancy rate.

3. one or more of the plurality of elevators can be configured in a robot only mode; The robot occupancy rate is applied to the elevator car set in the robot-only mode, 2. The robot-linked elevator system in which the robot boarding parameters are set as described in claim 1, wherein, when a ratio of objects boarding the elevator set to the robot-only mode exceeds the robot occupancy rate, a occupancy bypass is applied to the elevator set to the robot-only mode, and allocation of new robot calls to the elevator set to the robot-only mode is suppressed or excluded.

4. one or more of the plurality of elevators may be configured to a general passenger only mode; The occupancy rate is applied to the elevator car set in the general passenger only mode, 2. A robot-linked elevator system in which the robot boarding parameters are set as described in claim 1, wherein, when the ratio of objects boarding the elevator car set to the general passenger only mode exceeds the occupancy rate, a occupancy bypass is applied to the elevator car set to the general passenger only mode, and allocation of new passenger calls to the elevator car set to the general passenger only mode is suppressed or excluded.

5. one or more of the plurality of elevators can be configured to a passenger mode; 2. A robot-linked elevator system in which the robot boarding parameters described in claim 1 are set, wherein the robot occupancy rate is applied to a robot call and the human occupancy rate is applied to a human call to an elevator car set to the passenger mode.

6. 6. A robot-linked elevator system in which robot boarding parameters are set as described in claim 5, wherein, when a ratio of objects boarding the elevator set to the passenger mode exceeds both the robot occupancy rate and the human occupancy rate, a occupancy bypass is applied to the elevator set to the passenger mode, and allocation of both new robot calls and new human calls to the elevator set to the passenger mode is suppressed or excluded.

7. 6. A robot-linked elevator system in which robot boarding parameters are set as described in claim 5, wherein, when the ratio of objects boarding the elevator car set to the passenger mode does not exceed the human occupancy rate but exceeds the robot occupancy rate, a occupancy bypass is not applied to the elevator car set to the passenger mode, and a new robot call is restricted or excluded from allocation to the elevator car set to the passenger mode, and a new person call is not restricted or excluded from allocation.

8. The occupancy rate is The load occupancy rate based on the load of objects on the elevator; and a space occupancy rate based on the space occupancy rate of objects in the elevator; 8. A robot-linked elevator system in which the robot boarding parameters are set as described in any one of claims 1 to 7, wherein when the load occupancy rate and the space occupancy rate are applied together to one elevator car, if either the load occupancy rate or the space occupancy rate is exceeded, it is considered that the occupancy rate has been exceeded.

9. one or more of the plurality of elevators can be configured to a robot-only mode or a passenger mode; 2. The robot-linked elevator system in which robot boarding parameters are set according to claim 1, wherein a maximum number of robots that can be serviced is set for each elevator car set to the robot-only mode and the elevator car set to the passenger mode.

10. 10. The robot-linked elevator system in which the robot boarding parameters are set as described in claim 9, wherein the maximum number of robots that can be serviced by the elevator car set in the robot-only mode is set to be greater than the maximum number of robots that can be serviced by the elevator car set in the passenger mode.

11. Further comprising a group control unit for setting and allocating an optimal elevator number (optimum elevator number) for a new call; 10. The robot-linked elevator system in which robot boarding parameters are set according to claim 9, wherein the group management unit derives information regarding an additional load that can be loaded, an additional space area that can be occupied, and a number of robots in service for each elevator car.

12. When a robot call occurs, the group management unit: Select elevators whose additional load capacity and additional occupyable space area match the specifications of the robot that has requested the call, and form a primary candidate group; A second candidate group is formed by selecting elevators from the first candidate group in which the number of robots in service does not exceed the maximum number of robots that can be serviced; The robot-linked elevator system in which the robot boarding parameters are set according to claim 11, wherein the optimal elevator is selected by implementing an allocation algorithm on the secondary candidate group.

13. Among the plurality of elevators, an elevator number having a number of robots currently in service equal to or greater than the maximum number of robots that can be serviced set for the elevator number is excluded from allocation to a new robot call; 10. A robot-linked elevator system in which the robot boarding parameters are set as described in claim 9, wherein the number of robots currently in service includes the number of robots on board an elevator car and the number of robots waiting for an assigned elevator car at a landing.

14. A robot-linked elevator system in which the robot boarding parameters described in claim 13 are set, in which when two or more robot calls occur for one or more of the same call floor and destination floor, the number of robots assigned to the same elevator car is limited to a predetermined value or less and the robots are distributed and assigned to multiple elevator cars.

15. 15. The robot-linked elevator system in which the robot boarding parameters are set as claimed in claim 14, wherein, during distributed allocation, priority is given to elevators having lower robot occupancy rates.

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