Elevator car control method and system

Abstract

To allow a plurality of robots to ride in one elevator car when the same mission must be performed by the plurality of robots.SOLUTION: An elevator car control method includes the steps of: receiving a hall call including an indicator indicating the number of two or more robots and a destination floor originating from a first robot; grasping an interior space of each elevator car based on an interior image of the elevator car; allocating the elevator car to the hall call based on the interior space of the elevator car; receiving a boarding signal originating from a second robot; receiving a boarding completion signal originating from a third robot different from the second robot; and moving the elevator car to the destination floor.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to elevator car control methods and systems. [Background technology]

[0002] Robots used to provide services within a building board an elevator car installed in the building and then move to the destination floor. If multiple robots have the same task, for example, two robots each delivering five items to an office on one floor, the two robots need to board and move together in one elevator car. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Korean Patent No. 10-2451123 [Patent Document 2] Korean Patent No. 10-2541959 [Patent Document 3] Korean Patent No. 10-2558417 Summary of the Invention [Problem to be solved by the invention]

[0004] If the same mission must be performed by multiple robots, multiple robots can ride in one elevator car. [Means for solving the problem]

[0005] As one aspect of the present disclosure, an elevator car control method includes a step of receiving a hall call including an indicator indicating the number of two or more robots and a destination floor originating from a first robot; a step of grasping an interior space of each elevator car based on an interior image of the elevator car; a step of assigning elevator cars to the hall calls based on the interior space of the elevator cars; a step of receiving a boarding signal originating from a second robot; a step of receiving a boarding completion signal originating from a third robot different from the second robot; and a step of moving the elevator car to the destination floor.

[0006] In one embodiment, the first robot and the second robot may be different robots.

[0007] In one embodiment, the first robot and the second robot may be the same robot.

[0008] In one embodiment, the method may further include, after the step of allocating the elevator car, controlling the elevator car so that it is not allocated in response to a hall call from a passenger.

[0009] In one embodiment, the number of the two or more robots is N, where N is three, and the step of allocating elevator cars based on the interior space of the elevator cars may include: determining that there is no elevator car capable of accommodating the N robots; determining that there is an elevator car capable of accommodating N-1 robots; and allocating an elevator car capable of accommodating the N-1 robots.

[0010] In one embodiment, the hall call may further include information regarding the first to third robots, and the method may further include the step of receiving hall calls from the second and third robots, and the step of allocating an elevator car based on the internal space of the elevator car may include the step of allocating an elevator car in response to only one of the hall calls from the first to third robots.

[0011] In one embodiment, allocating an elevator car to the hall call based on the interior space of the elevator car may include allocating an elevator car considering an operation mode of the elevator car, the operation mode including a robot only mode and a robot / passenger shared mode.

[0012] In one embodiment, allocating elevator cars to the hall calls based on the interior space of the elevator cars may include preferentially allocating elevator cars in the robot only mode.

[0013] In one embodiment of the present disclosure, an elevator car control method includes a step of setting an operation mode of a first elevator car to a robot-only mode and operating the first elevator car; a step of setting an operation mode of a second elevator car to a robot / passenger-along mode and operating the second elevator car; a step of receiving a hall call from a first robot, the hall call including an indicator indicating the number of two or more robots and a destination floor; a step of acquiring an occupancy rate inside the first elevator car; a step of acquiring an occupancy rate inside the second elevator car; and a step of assigning elevator cars to the hall calls based on at least one of the occupancy rate inside the first elevator car, the occupancy rate inside the second elevator car, the operation modes, and a preset criterion.

[0014] In one embodiment, after the step of allocating an elevator car to the hall call, the method may further include the steps of: receiving a boarding signal from a second robot; receiving a boarding completion signal from a third robot different from the second robot; and moving the elevator car to the destination floor.

[0015] In one aspect of the present disclosure, a control method by a robot control system includes the steps of receiving a grouping request signal; grouping a plurality of robots into one group in response to the grouping request signal; transmitting a grouping signal including information of each of the grouped robots; transmitting a signal to an elevator car control system notifying each of the grouped robots; moving each of the grouped robots to board an elevator car; transmitting a hall call to the elevator car control system, the hall call including an indicator of the number of each of the grouped robots; receiving a boarding signal from one of the plurality of robots; and receiving a boarding completion signal from one of the plurality of robots.

[0016] In one embodiment, the step of transmitting hall calls to an elevator car control system may include the steps of: receiving hall calls from the plurality of robots, the hall calls including robot information; and filtering duplicate hall calls from the hall calls received from the plurality of robots based on the grouping signal and the hall calls.

[0017] In one embodiment, after the step of grouping a plurality of robots into one group in response to a grouping request signal, the method may further include a step of transmitting a signal for selecting a robot that will transmit the hall call to each of the grouped robots or to any one of the grouped robots.

[0018] In one aspect of the present disclosure, an elevator car control system includes a processor and a memory configured to store instructions that, when executed, cause the processor to: receive a hall call including an indication of a number of two or more robots and a destination floor; determine an occupancy rate of each elevator car based on an interior image of the elevator car; assign an elevator car to the hall call based on the occupancy rate of the elevator car; receive a boarding signal from a robot; receive a boarding completion signal from a robot different from the robot; and move the elevator car to the destination floor.

[0019] In one embodiment, the processor may be configured to, after allocating the elevator car, not allocate the elevator car to accommodate hall calls from passengers.

[0020] In one embodiment, the system may include a plurality of elevator cars; a camera disposed in each elevator car and configured to acquire an internal image of each elevator car; and a processor configured to generate a control signal to control an operation of each elevator car based on a request signal received from a robot; wherein the processor may be configured to receive a hall call from one robot, the hall call including an indicator of a plurality of robots included in a group and a destination floor, assign an elevator car for transporting the plurality of robots to the hall call based on the internal image of each elevator car, and accommodate the plurality of robots in the elevator car for transporting the plurality of robots and then move them to the destination floor. Effect of the Invention

[0021] By allowing multiple robots to board the same elevator car and then move to their destination floor, the efficiency of robot transportation can be improved when two or more robots move to the same location for the same purpose. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 illustrates an example of an elevator car control environment according to one embodiment of the present disclosure. [Diagram 2] FIG. 1 is a block diagram of an elevator car riding robot according to an embodiment of the present disclosure. [Diagram 3] FIG. 1 is a block diagram of a robot control system for controlling a robot according to an embodiment of the present disclosure. [Figure 4] FIG. 1 is a block diagram of a system for controlling an elevator car according to one embodiment of the present disclosure. [Diagram 5] 1 is a flowchart of a method for controlling an elevator car according to one embodiment of the present disclosure. [Figure 6] 1 is a flowchart of a method for controlling an elevator car according to one embodiment of the present disclosure. [Figure 7] 1 is a flowchart of a method for controlling an elevator car according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present disclosure will be described in detail below with reference to the accompanying drawings so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

[0024] In the drawings, in order to clearly explain the present disclosure, parts that are not relevant to the explanation are omitted, and similar parts are designated by similar reference numerals throughout the specification.

[0025] Throughout the specification, when a part "comprises" an element, this means that it may further include other elements, rather than excluding other elements, unless specifically stated to the contrary.

[0026] The technology described in this disclosure is not intended to be limited to a particular embodiment, but should be understood to include various modifications, equivalents, and / or alternatives to the embodiments of the present disclosure.

[0027] As used in this disclosure, "configured to" may be used interchangeably with, for example, "suitable for," "capable of," "designed to," "modified to," "made to," or "capable of," depending on the context. The term "configured to" does not necessarily mean only that the hardware is "specially designed." Instead, in some contexts, the phrase "apparatus configured to" may mean that the apparatus is "capable of" in conjunction with other apparatus or components.

[0028] The prior art documents described in this disclosure are incorporated herein by reference in their entirety, and it can be understood that the contents described in the prior art documents are applicable to the parts briefly described in this disclosure by a person having ordinary skill in the art.

[0029] FIG. 1 is an illustration of an elevator car control environment according to one embodiment of the present disclosure.

[0030] 1, the elevator car control environment includes an elevator car 100, robots 1 to 3 (hereinafter, robots) 200, 202, 204 that board the elevator car 100 and then move to a destination floor, a robot control system 300 that controls the robots 200, 202, 204, and an elevator car control system 400 that controls the elevator car 100. In one embodiment, a configuration including the elevator car 100 and the elevator car control system 400 can be named an elevator car control system.

[0031] When the door of the elevator car 100 is opened, each robot 200, 202, 204 can board. A camera 110 may be installed inside the elevator car 100, and a weight sensor 120 may be installed on the floor of the elevator car 100. The camera 110 may be configured to capture images of passengers and / or each robot 200, 202, 204 inside the elevator car 100. The elevator car 100 may capture the number of passengers and / or the number of robots on board from the images from the camera 110. The weight sensor 120 may be configured to sense the weight of passengers and each robot 200, 202, 204 boarding the elevator car 100. The images captured by the camera 110 and the weights sensed by the weight sensor 120 may be transmitted to the elevator car control system 400. The elevator car control system 400 can calculate the passenger space S of the elevator car 100 or the occupancy rate of objects in the elevator car 100 based on the image acquired by the camera 110 and / or the weight sensed by the weight sensor 120. The elevator car control system 400 can grasp the number of passengers and / or the number of robots in the elevator car 100 from the image acquired by the camera 110. In addition, Korean Patent Registration No. 10-2541959 discloses a method for calculating the space occupancy rate of objects in an elevator car.

[0032] In one embodiment, the elevator car control system 400 can assign hall calls to elevator cars based on the passenger capacity of the elevator car, such as the maximum number of passengers in the elevator car, the maximum weight capacity of the elevator car, and the number of passengers and / or robots in the elevator car.

[0033] Each robot 200, 202, 204 is a service robot used to provide services within a building, which will be described in more detail with reference to Figure 2. At least a portion of the movement of each robot 200, 202, 204 and the calls to the elevator car 100 may be made through a robot control system 300, which will be described in more detail with reference to Figure 3. The elevator car control system 400 may be configured to control multiple elevator cars, including the elevator car 100. The elevator car control system 400 may, for example, move an appropriate elevator car (e.g., elevator car 100) of the multiple elevator cars to the floor where each robot 200, 202, 204 is located.

[0034] In one embodiment, each of the robots 200, 202, and 204 may be equipped with at least a portion of the configuration of the robot control system 300. Alternatively, each of the robots 200, 202, and 204 may be physically separated from the robot control system 300. The robot control system 300 and the robots 200, 202, and 204 may be implemented as a separate server.

[0035] In one embodiment, the robots 200, 202, and 204 are grouped as shown by the dotted lines in FIG. 1 to perform one common task and move to the same destination floor. For example, one robot can move five items. There may be a case where the robots 200, 202, and 204 simultaneously perform a task of moving 15 items. Accordingly, the robots 200, 202, and 204 may be grouped. Preferably, when the grouped robots 200, 202, and 204 move to the same destination floor, they may simultaneously board one elevator car and then move to the same destination floor together. That is, when a robot capable of transporting N items is requested to transport more than N items, two or more robots may be grouped. In the present disclosure, the number of grouped robots is mainly assumed to be three, but it may be understood that the number of grouped robots may be a number other than three, that is, two or more.

[0036] The robot control system 300 may receive a grouping request signal from the outside. The grouping request signal may include an item carrying signal. The item carrying signal may include the number of items. Based on the number of items and the number of items that one robot can carry, the robot control system 300 may group a plurality of robots into one group. In the present disclosure, it will be described that each robot 200, 202, 204 is grouped. The robot control system 300 may transmit a grouping signal to each of the grouped robots 200, 202, 204. The grouping signal may include robot information (e.g., each robot ID) and mission information (e.g., destination, mission, etc.). The grouping signal may include information indicating which robots are grouped.

[0037] The robot control system 300 can transmit a signal notifying which robots have been grouped to the elevator car control system 400. This allows the elevator car control system 400 to know which robots have been grouped.

[0038] In order to board the elevator car 100, only one of the grouped robots 200, 202, 204 (hereinafter, robot 200) can transmit an elevator car call command signal (e.g., hall call) to the elevator car control system 400 through the robot control system 300. The robot transmitting the hall call may be selected arbitrarily from among the robots 200, 202, 204. The robot transmitting the hall call may be selected by the robot control system 300. The robot control system 300 can transmit a signal designating a robot transmitting the hall call to each grouped robot or to a designated robot. For example, a signal selecting a robot transmitting the hall call may be included in a grouping signal. Alternatively, the robot control system 300 can transmit a signal designating a robot transmitting the hall call to each grouped robot or to only the designated robot, separately from the grouping signal.

[0039] In one embodiment, the robot that arrives at the elevator first among the grouped robots may transmit the hall call on behalf of the grouped robots. Alternatively, one of the grouped robots (e.g., the robot with the smallest or largest ID number) may transmit the hall call on behalf of the grouped robots based on their unique IDs. Alternatively, the robot closest to the elevator car door may transmit the hall call.

[0040] Thus, elevator car allocation for boarding each robot 200, 202, 204 can be performed by one elevator car call command signal. The hall call can include an indicator indicating the number of each robot 200, 202, 204. The hall call can include call floor (robot waiting floor) and destination floor information. Thus, the elevator car control system 400 can be controlled to allocate elevator cars that each robot 200, 202, 204 can board.

[0041] Or, even if each of the robots 200, 202, 204 transmits an elevator car call command signal (e.g., hall call) to the elevator car control system 400 through the robot control system 300, the robot control system 300 can transmit one elevator car call command signal to the elevator car control system 400, or the elevator car control system 400 can assign an elevator car in response to only one elevator car call signal. That is, the robot control system 300 or the elevator car control system 400 can filter hall calls transmitted by multiple robots belonging to one group based on the grouping signal.

[0042] In one embodiment, the hall call transmitted by each of the robots 200, 202, 204 may further include robot information (e.g., a robot ID, etc.). The robot control system 300 or the elevator car control system 400 may determine whether each of the grouped robots 200, 202, 204 has transmitted a hall call based on the robot information and the grouping signal included in the hall call. The robot control system 300 or the elevator car control system 400 may assign an elevator car corresponding to one hall call in response to determining that each of the grouped robots 200, 202, 204 has transmitted a hall call.

[0043] In one embodiment, the elevator car control system 400 can assign an elevator car to each grouped robot, taking into consideration the current operation mode of each elevator car. For example, each of the elevator cars may be operated in one of a robot-only mode in which a call service is provided only to robots, a general passenger mode in which a call service is provided only to people, and a passenger mode in which a call service is provided to both robots and people, before the elevator car control system 400 receives a hall call from a grouped robot. Alternatively, there may be an elevator car for which an operation mode is not defined.

[0044] The elevator car control system 400 can receive hall calls for boarding multiple robots. The elevator car control system 400 can assign hall calls to elevator cars taking into consideration which operation mode the elevator car is currently operating in. The elevator car control system 400 can preferentially assign hall calls to elevator cars in a robot-only mode.

[0045] In one embodiment, the elevator car control system 400 can determine that an elevator car operated in the robot-only mode can accommodate more robots than an elevator car operated in the passenger mode because only robots ride in the elevator car. For example, when the occupancy rate of an elevator car operated in the dedicated mode is the same as that of an elevator car operated in the passenger mode, the elevator car control system 400 can preferentially allocate the elevator car operated in the dedicated mode to a hall call for a plurality of robots to ride. Even if the space occupancy rate of the elevator car in the dedicated mode is lower than the occupancy rate of an elevator car operated in the passenger mode, the elevator car control system 400 can allocate the elevator car in the dedicated mode to a hall call for a plurality of robots to ride if the difference is smaller than a preset criterion. For example, when the difference between the space occupancy rate of the elevator car in the robot-only mode and the occupancy rate of an elevator car operated in the passenger mode is within 5% to 10%, the elevator car in the robot-only mode can be allocated to a hall call for a plurality of robots to ride.

[0046] In the following, an example in which three robots are grouped into one group will be described. The number of robots is merely an example, and the present disclosure is not limited to this example. It can be understood that the following example is applicable when two or more robots are grouped into one group.

[0047] Three robots 200, 202, and 204 ride in one elevator car.

[0048] As described above, for boarding of each robot 200, 202, 204, any one or each of the robots 200, 202, 204 can send an elevator car call command (hall call). In response to the hall call, the elevator car control system 400 can allocate only one elevator car for the three robots 200, 202, 204.

[0049] The elevator car control system 400 can assign the hall call to the most suitable elevator car (here, for example, elevator car 100). In this case, three available elevator cars may be assigned so that all of the grouped robots, here, all of the robots 200, 202, 204, can board. The elevator car 100 that receives the hall call arrives at the landing where the robots 200, 202, 204 are waiting. In one embodiment, as described above, each of the robots 200, 202, 204 or one of the robots 200, 202, 204 can transmit a signal indicating a destination floor together with the elevator car call command signal.

[0050] In one embodiment, the elevator car control system 400 can allocate hall calls to elevator cars based on the space occupancy rate in the elevator car, the passenger capacity of the elevator car, and the number of passengers and / or robots in the elevator car. The elevator car control system 400 can allocate hall calls to elevator cars with passengers (and / or robots) that are equal to or less than a preset ratio, for example, 20%, 30%, 40%, 50%, 60% of the maximum passenger capacity, compared to the maximum passenger capacity of the elevator car. The ratio to the maximum passenger capacity may be set by an administrator of the elevator car control system 400. In one embodiment, the elevator car control system 400 can set the ratio to the maximum passenger capacity in various forms, taking into account which operation mode the elevator car is currently operating in. For example, in the case of an elevator car in a robot-only mode, the elevator car control system 400 may be set to determine that each grouped robot can board an elevator car that is equal to or less than 30% of the maximum passenger capacity. The elevator car control system 400 may be configured to determine that, in the case of an elevator car in passenger mode, each of the grouped robots can ride in an elevator car that has 20% or less of the maximum number of passengers.

[0051] The elevator car control system 400 can allocate hall calls to elevator cars with passengers (and / or robots) at or below a preset ratio, for example, any one ratio selected from 20%, 30%, 40%, 50%, 60% of the maximum passenger weight, compared with the maximum passenger weight of the elevator car. The ratio to the maximum passenger weight may be set by an administrator of the elevator car control system 400. In one embodiment, the elevator car control system 400 can set the ratio of the weight to the maximum passenger weight differently depending on which operation mode the elevator car is currently operating in. For example, the elevator car control system 400 can set the ratio of the weight to the maximum passenger weight to 30% for elevator cars in a robot-only mode and 20% for elevator cars in a passenger mode.

[0052] In the case where the maximum number of passengers in an elevator car is 20, the elevator car control system 400 can assign a hall call to an elevator car with four or less passengers (and / or robots) and / or two or less robots, where three robots are on board. For example, in the case where the maximum number of passengers in an elevator car is 20, the elevator car control system 400 (including passengers and robots) can assign a hall call to an elevator car in which the weight of the on-board object is detected to be equal to or less than a preset weight. The elevator car control system 400 can assign a hall call to an elevator car in which the weight of the on-board object is detected to be equal to or less than a preset weight or equal to or less than a preset ratio of the maximum capacity weight, compared with the maximum capacity weight of the elevator car. The elevator car control system 400 can assign a hall call to an elevator car with as few passengers as possible. In the case where there is an elevator car corresponding to the above-mentioned example, the elevator car control system 400 can determine that there is an elevator car in which all of the grouped robots 200, 202, 204 can board, and assign a hall call to the corresponding elevator car.

[0053] The assigned elevator car 100 arrives at the landing and the door of the elevator car 100 is opened. The elevator car 100 can transmit a boarding signal to the robot control system 300. The elevator car 100 can transmit a boarding signal to the robot control system 300 through the elevator car control system 400. The robot control system 300 can transmit a boarding signal to each of the robots 200, 202, 204.

[0054] When the grouped robots 200, 202, and 204 board one elevator car 100, any one of the robots 200, 202, and 204 can transmit a robot boarding signal to the elevator car control system 400 through the robot control system 300 in order to board the elevator car 100. In one embodiment, the robot that boards first can transmit a robot boarding signal to the elevator car control system 400. Thus, the robot closest to the door of the elevator car can transmit a robot boarding signal to the elevator car control system 400. Also, the robot that transmitted the hall call can transmit a robot boarding signal to the elevator car control system 400. The second and third robots can board the elevator car 100 without transmitting a specific signal. The last robot to board can transmit a boarding completion signal to the elevator car control system 400. The last robot to board can transmit a boarding completion signal to the elevator car control system 400 through the robot control system 300.

[0055] After each robot 200, 202, 204 has boarded, the door is closed and the elevator car 100 moves toward the destination floor. A destination floor registration signal (car call) can be transmitted when any one of the robots 200, 202, 204 transmits a hall call, or a car call can be transmitted to the elevator car control system 400 through the robot control system 300 after each robot 200, 202, 204 has boarded the elevator car 100.

[0056] The door is opened in response to the elevator car 100 arriving at the destination floor. The elevator car control system 400 can transmit a disembarking possible signal to the robot control system 300. The robot control system 300 can transmit a disembarking signal to each of the robots 200, 202, 204. The robot that disembarks first among the robots 200, 202, 204 can transmit a disembarking in progress signal to the elevator car control system 400. The second and third robots that disembark can disembark from the elevator car 100 without transmitting any particular signal. The last robot to disembark can transmit a disembarking complete signal to the elevator car control system 400.

[0057] Three robots 200, 202, and 204 ride in two elevator cars.

[0058] In one embodiment, the elevator car control system 400 may determine that there is no elevator car that all of the grouped robots can board in. In response to determining that there is no elevator car that meets a preset criterion, the elevator car control system 400 may determine that there is no elevator car that all of the grouped robots can board in.

[0059] In response to determining that there is no elevator car that all of the grouped robots can board, the elevator car control system 400 can determine whether there is an elevator car that can board two robots, for example. In response to determining that there is an elevator car that can board two robots, the elevator car control system 400 can assign elevator cars that can board two robots and elevator cars that can board one robot to the groups of each robot 200, 202, 204, and move them to the landings where each robot 200, 202, 204 is located. The elevator car control system 400 can transmit information on elevator cars that can board two robots and elevator cars that can board one robot to the groups of each robot 200, 202, 204. The elevator car control system 400 can transmit information on elevator cars that can board two robots and elevator cars that can board one robot to the robot control system 300. Each robot 200, 202, 204 may be assigned which robot will ride in the two robot elevator car and the one robot elevator car.

[0060] The elevator car control system 400 can allocate hall calls to elevator cars in which passengers (and / or robots) corresponding to 20% of the maximum number of passengers or less are on board, for example, 20%, 30%, 40%, 50% or less of the maximum number of passengers, compared with the maximum number of passengers of the elevator car. In this case, the ratio to the maximum number of passengers is greater than the ratio set to determine that there is an elevator car in which three robots can board. For example, the elevator car control system 400 may be set to determine that an elevator car in which passengers (and / or robots) corresponding to 20% of the maximum number of passengers are on board is an elevator car in which three robots can board. The elevator car control system 400 may be set to determine that an elevator car in which passengers (and / or robots) corresponding to 30% of the maximum number of passengers are on board is an elevator car in which three robots cannot board and two robots can board. The ratio to the maximum number of passengers may be set by an administrator of the elevator car control system 400. The elevator car control system 400 can allocate hall calls to elevator cars with passengers corresponding to a preset ratio, for example, 20%, 30%, or 40% of the maximum passenger weight, in comparison with the maximum passenger weight of the elevator car. In this case, the ratio to the maximum passenger weight is greater than the ratio set to determine that there is an elevator car that can accommodate three robots. The ratio to the maximum passenger weight may be set by an administrator of the elevator car control system 400.

[0061] The elevator car control system 400 can assign an elevator car capable of carrying two robots and an elevator car capable of carrying one robot to each of the grouped robots 200, 202, 204. The elevator car control system 400 can transmit the assigned elevator car information to the robot control system 300. The robot control system 300 can determine which of the grouped robots 200, 202, 204 will ride in the elevator car capable of carrying two robots, and transmit a signal for controlling each of the grouped robots 200, 202, 204 to each of the grouped robots 200, 202, 204. For example, the robot control system 300 can specify which robot will ride in which elevator car.

[0062] The two assigned elevator cars arrive at the landing. Each of the elevator cars that has arrived can transmit a boarding availability signal to the robot control system 300. Each elevator car can transmit a boarding availability signal to the robot control system 300 through the elevator car control system 400. The robot control system 300 can transmit a boarding signal to a robot that is designated to board the corresponding elevator car among the robots 200, 202, and 204.

[0063] In one embodiment, it is assumed that two robots out of the robots 200, 202, and 204 board two available elevator cars. In one embodiment, the robot that boards first can transmit a robot boarding signal to the elevator car control system 400. The robot that boards second can board the two available elevator cars without transmitting a specific signal. The robot that boards last can transmit a boarding completion signal to the elevator car control system 400. The robot that boards last can transmit a boarding completion signal to the elevator car control system 400 through the robot control system 300.

[0064] In one embodiment, it is assumed that one of the robots 200, 202, 204 is to board one available elevator car. One robot can transmit a robot boarding signal to the elevator car control system 400. When the robot has completed boarding, it can transmit a boarding completion signal to the elevator car control system 400.

[0065] Each elevator car arrives at the destination floor. The elevator car control system 400 can transmit an alighting possible signal to the robot control system 300. The robot control system 300 can transmit an alighting signal to the robot aboard the elevator car that has arrived at the destination floor. When two robots aboard, the robot that alights first can transmit an alighting signal to the elevator car control system 400. The robot that alights second can alight from the elevator car without transmitting a specific signal. The robot that alights last can transmit an alighting completion signal to the elevator car control system 400. When an elevator car with one robot aboard arrives at the destination floor, it is the same as a general alighting case.

[0066] In one embodiment, the robot that has dismounted first may be controlled by the robot control system 300 to wait for the robot that arrives later. For example, the elevator car control system 400 transmits a dismounting possible signal to the robot control system 300, and the robot control system 300 transmits a dismounting signal to the robot, so that the robot control system 300 can determine which robot has arrived at the destination floor first. The robot control system 300 can transmit a standby signal to the robot that has dismounted first to wait for the robot that arrives later. The elevator car control system 400 can receive a dismounting completion signal from the robot that arrives at the destination floor later, and transmit the dismounting completion signal to the robot control system 300. The robot control system 300 can transmit a standby release signal to the robot that has arrived first based on the dismounting completion signal from the robot that arrives at the destination floor later.

[0067] Three robots 200, 202, 204 ride in three elevator cars.

[0068] In response to determining that there is no elevator car available for all of the grouped robots, the elevator car control system 400 can determine whether there is an elevator car available for two robots, for example. In response to determining that there is no elevator car available for two robots, the elevator car control system 400 can assign an elevator car to each of the robots 200, 202, 204.

[0069] The elevator car control system 400 may transmit the assigned elevator car information to the robot control system 300. The robot control system 300 may transmit the received assigned elevator car information to each of the robots 200, 202, and 204. Since each of the three robots 200, 202, and 204 can be implemented by conventional technology to board the elevator car, move to the destination floor, and get off, detailed description thereof will be omitted.

[0070] In one embodiment, the robot that has disembarked first may be controlled by the robot control system 300 to wait for the robot that arrives later. For example, the elevator car control system 400 transmits a disembarking OK signal to the robot control system 300, and the robot control system 300 transmits a disembarking signal to the robot, so that the robot control system 300 can determine which robot has arrived at the destination floor first. The robot control system 300 can transmit a standby signal to the robot that has disembarked first to wait for the robot that arrives later. The elevator car control system 400 can receive a disembarking completion signal from the robot that has arrived last at the destination floor, and transmit the disembarking completion signal to the robot control system 300. The robot control system 300 can transmit a standby release signal to each robot that has arrived first based on the disembarking completion signal from the robot that has arrived last at the destination floor.

[0071] In one embodiment, when a hall call is assigned to an elevator car for all or two of the grouped robots 200, 202, 204, the assigned elevator car may not be assigned another hall call before the corresponding robots 200, 202, 204 board. This is because if another hall call is assigned and another passenger (and / or robot) boards before the corresponding robots 200, 202, 204 board the assigned elevator car, the corresponding robots 200, 202, 204 may not be able to board.

[0072] Three robots 200, 202, and 204 are controlled so as to arrive at the destination floor within a set time.

[0073] When multiple robots 200, 202, 204 are divided and boarded in different elevator cars, the elevator car control system 400 can assign and control each elevator car so that each robot 200, 202, 204 arrives at the destination floor at substantially the same time (e.g., so that each elevator car arrives with a set time difference) or within a set time.

[0074] In one embodiment, the elevator car control system 400 can control the number of grouped robots to be combined with the number of robots that the elevator cars can accommodate, and control the elevator cars to move to a floor where a hall call is registered (e.g., a floor where each grouped robot is waiting). For example, when a group of three robots is waiting at a floor where a hall call is registered, the elevator car control system 400 can control an elevator car that can accommodate two robots and an elevator car that can accommodate one robot to arrive at the floor where the hall call is registered within a set time. Alternatively, the elevator car control system 400 can control three elevator cars that can accommodate one robot to arrive at the floor where the hall call is registered within a set time.

[0075] For such control, in one embodiment, the elevator car control system 400 may determine the number of robots that can be accommodated in each elevator car in response to receiving hall calls from grouped robots, and may calculate the time it takes for each elevator to arrive from its current location to the floor where the hall call is registered. After calculating the time it takes each elevator car to arrive at the floor where the hall call is registered, the elevator car control system 400 may group elevator cars with the smallest difference in the time it takes to arrive at the floor where the hall call is registered. Since the number of robots that can be accommodated in each elevator car has been determined, the elevator car control system 400 may combine the number of grouped robots with the number of robots that can be accommodated in the elevator car with the smallest difference in the time it takes to arrive at the floor where the hall call is registered, and control multiple elevator cars to move to the floor where the hall call is registered. The elevator car control system 400 may not later assign hall calls to multiple elevator cars that move to the floor where the hall call is registered.

[0076] After the multiple robots are divided into multiple elevators and boarded, the elevator car control system 400 controls the multiple elevators to move to the destination floor, and controls the multiple elevators not to assign other hall calls to them before they arrive at the destination floor.

[0077] FIG. 2 is a block diagram of one of the elevator car riding robots 200 according to an embodiment of the present disclosure.

[0078] 2, the robot 200 includes a processor 210, a memory 220, a sensor 230, a communication unit 240, and a driving unit 250. The processor 210 may be configured to control the robot (e.g., movement, mapping, data processing, etc.) and control components of the robot 200 when instructions stored in the memory 220 are executed. The processor 210 may control the communication unit 240 and transmit each of the above-mentioned signals to the elevator car control system 400 through the robot control system 300. The processor 210 may also transmit information collected by the sensor 230 or information regarding the movement of the robot 200 (e.g., getting on, getting off, waiting) to the elevator car control system 400 through the robot control system 300.

[0079] The processor 210 can control the robot 200 based on information sensed by the sensor 230. In one embodiment, the processor 210 can be any form of processor or controller for performing functions, such as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other functions.

[0080] The sensor 230 may be configured to collect data required for autonomous driving of the robot 200. The robot 200 may sense the opening / closing of a door after the elevator car 100 arrives at a landing or a destination floor through the sensor 230. Based on the opening / closing of the door, the robot 200 may get on / off the elevator car 100. Information sensed by the sensor 230 may be transmitted to the elevator car control system 400 through the robot control system 300 via the communication unit 240.

[0081] The communication unit 240 may be a configuration for the robot 200 to communicate with other devices, such as the robot control system 300. The communication unit 240 may be a hardware module, such as an antenna, a data bus, a network interface card, a network interface chip, and a networking interface port of the robot 200, which transmits / receives data and / or information, or a software module, such as a network device driver or a networking program. The drive unit 250 is a configuration that enables the robot 200 to move, and may include hardware such as a motor and wheels for achieving this.

[0082] FIG. 3 is a block diagram of a robot control system 300 for controlling a robot according to an embodiment of the present disclosure. The robot control system 300 may be a device for controlling the movement of the robot 200 and the provision of services in a building by the robot 200. The robot control system 300 may call the elevator car 100 to move the robot 200 to a destination floor through communication with the elevator car control system 400. The robot control system 300 may control the robot 200 to recognize the called elevator car 100 and board the elevator car 100, and control the robot 200 to get off the elevator car 100 at the destination floor. The robot control system 300 may include at least one computing device and may be embodied in a server located in a building or outside the building. The robot control system 300 may be embodied in a cloud server (system). The robot control system 300 may be configured to transmit a signal for controlling the elevator car 100 to the elevator car control system 400 based on a signal or information received from the robot 200.

[0083] 3, the robot control system 300 may include a processor 310, a memory 320, an interface 330, and a communication unit 340. The configurations of the processor 310, the memory 320, and the communication unit 340 may be similar to the configurations of the processor 210, the memory 220, and the communication unit 240 of the robot 200, so detailed description thereof will be omitted. The interface 330 may include input devices such as a keyboard, a mouse, a touch panel, a microphone, etc., and / or output devices such as a display, a speaker, etc.

[0084] FIG. 4 is a block diagram of an elevator car control system 400 according to an embodiment of the present disclosure. The elevator car control system 400 may be a device that issues calls to the elevator car 100 moving (e.g., ascending or descending) in a building and controls the movement of the elevator car 100 (or generates a signal to control the movement of the elevator car 100). The elevator car control system 400 may include at least one computing device and may be embodied in a computer system located in a building or outside the building. The elevator car control system 400 may be separate from a control panel that directly controls the elevator car 100. The elevator car control system 400 may transmit signals required to control the elevator car 100 to the control panel. Alternatively, the elevator car control system 400 may be configured to include a control panel. The elevator car control system 400 may receive information from the camera 110 and / or the weight sensor 120.

[0085] 4, the elevator car control system 400 includes a processor 410, a memory 420, an interface 430, and a communication unit 440. The configurations of the processor 410, the memory 420, and the interface 430 may be similar to the configurations of the processor 310, the memory 320, the interface 330, and the communication unit 340, and therefore detailed descriptions thereof will be omitted.

[0086] 5 is a flowchart of a method for controlling an elevator car according to an embodiment of the present disclosure. FIG. 5 illustrates a method for allocating an elevator to a plurality of grouped robots and moving each grouped robot to a destination floor after boarding the elevator.

[0087] 5, in step S505, the elevator car control system 400 receives a hall call from a first robot. The first robot may be any one of the plurality of grouped robots. The hall call may include an indicator indicating the number of the plurality of grouped robots and a destination floor. Receiving the hall call from the first robot by the elevator car control system 400 may include the elevator car control system 400 receiving the hall call through the robot control system 300.

[0088] In step S510, the elevator car control system 400 grasps the interior space of the elevator car. The elevator car control system 400 can obtain an image of the interior space of each of the elevator cars from a camera disposed inside each elevator. The elevator car control system 400 can determine the number of robots that the elevator car can accommodate from the image of the interior of the elevator car.

[0089] In step S515, the elevator car control system 400 assigns an elevator car to the hall call. As described above, the elevator car control system 400 can assign one elevator car or multiple elevator cars to the hall call based on the number of grouped robots and the number of robots that the elevator car can accommodate.

[0090] In step 520, the elevator car control system 400 receives a riding signal from the second robot. The second robot may be any one of the grouped robots. The first robot and the second robot may be the same or different. The second robot may be the robot that rides first in the elevator car among the grouped robots.

[0091] In step S525, the elevator car control system 400 receives a boarding completion signal originating from a third robot different from the second robot. The third robot may be a robot that boarded last among the grouped robots.

[0092] In step S530, the elevator car control system 400 moves the elevator car to the destination floor.

[0093] 6 is a flow chart of a method for controlling an elevator car according to one embodiment of the present disclosure. FIG 6 illustrates a method for allocating elevators to a group of robots.

[0094] In step S605, the elevator car control system 400 sets an operation mode of the first elevator car to a robot-only mode and operates the first elevator car. The first elevator car may be at least one of the plurality of elevator cars.

[0095] In step S610, the elevator car control system 400 sets an operation mode of the second elevator car to a robot / passenger riding mode and operates the second elevator car. The second elevator car may be at least one of the plurality of elevator cars.

[0096] In step S615, the elevator car control system 400 receives a hall call from a first robot. The first robot may be any one of the plurality of grouped robots. The hall call may include an indicator indicating the number of the plurality of grouped robots and a destination floor.

[0097] In step S620, the elevator car control system 400 acquires an occupancy rate inside the first elevator car. The elevator car control system 400 can acquire an image of the interior space of each of the plurality of elevator cars from a camera disposed inside each elevator. The elevator car control system 400 can acquire the occupancy rate inside the first elevator car from the interior image of the first elevator car.

[0098] In step S625, the elevator car control system 400 obtains an occupancy rate inside the second elevator car. The elevator car control system 400 can obtain the occupancy rate inside the second elevator car from the interior image of the second elevator car.

[0099] In step S630, the elevator car control system 400 assigns elevator cars to hall calls based on the occupancy rate inside the first elevator car, the occupancy rate inside the second elevator car, each operation mode, and a preset criterion.

[0100] 7 is a flowchart of a method for controlling an elevator car according to an embodiment of the present disclosure. FIG. 7 illustrates a method for allocating an elevator to a group of robots and having each of the grouped robots board the elevator.

[0101] In step S705, the robot control system 300 receives a grouping request signal. The grouping request signal may include an item carrying signal. The item carrying signal may include the number of items. The robot control system 300 may group a plurality of robots into one group based on the number of items and the number of items that one robot can carry. The robot control system 300 may receive a grouping request signal from an external source. The grouping signal may include robot information (e.g., each robot ID) and mission information (e.g., destination, mission, etc.). The grouping signal may include information indicating which robots are grouped. The robot control system 300 may transmit a signal designating a robot that will transmit a hall call to each grouped robot or only to the designated robot, separately from the grouping signal.

[0102] In step S710, the robot control system 300 groups the plurality of robots into one group in response to the grouping request signal. The robot control system 300 may group the plurality of robots into one group based on the number of items and the number of items that one robot can carry.

[0103] In step S715, a grouping signal including information of each grouped robot is transmitted to each grouped robot. The grouping signal may include robot information (e.g., each robot ID) and mission information (e.g., destination, mission, etc.). The grouping signal may include information indicating which robots are grouped. The grouping signal may include content specifying which robot among the grouped robots is to transmit a hall call.

[0104] In step S720, the robot control system 300 transmits a signal notifying the elevator car control system 400 of each grouped robot, so that the elevator car control system 400 can know which robots have been grouped.

[0105] In step S725, the robot control system 300 moves each of the grouped robots to board the elevator car.

[0106] In step S730, the robot control system 300 transmits a hall call to the elevator car control system 400. The hall call may include an indicator of the number of grouped robots. The robot control system 300 may receive hall calls from one robot or multiple robots. In one embodiment, if the robot control system 300 receives hall calls from multiple robots, the robot control system 300 may filter duplicate hall calls and transmit one hall call to the elevator car control system 400.

[0107] In step S735, the robot control system 300 receives a riding signal from one of the grouped robots.

[0108] In step S740, the robot control system 300 receives a boarding completion signal from one of the robots. The robot that transmits the boarding signal and the boarding completion signal may be different.

[0109] In the present disclosure, the robot sending a signal to the elevator car control system may include sending a signal to the elevator car control system through the robot control system, i.e., the elevator car control system receiving a signal from the robot may include the elevator car control system receiving a signal through the robot control system.

[0110] In the present disclosure, "occupancy rate" may include the occupancy rate of the space occupied by objects (e.g., both humans and robots) in the elevator car. "Occupancy rate" may include the ratio of the weight of objects (e.g., both humans and robots) in the elevator car to the maximum capacity weight of the elevator car. "Occupancy rate" may include the ratio of passengers and / or robots (e.g., both humans and robots) in the elevator car to the maximum passenger capacity of the elevator car.

[0111] The method according to the present disclosure may be embodied as a processor-readable code in a processor-readable recording medium provided in a server, system, equipment, computer, integrated control device, etc. used by any entity. The processor-readable recording medium includes all kinds of recording devices in which data read by a processor is stored. Examples of the processor-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc., and also includes those embodied in the form of a carrier wave such as transmission via the Internet. The processor-readable recording medium may also be distributed among computer systems connected by a network, and the processor-readable code may be stored and executed in a distributed manner.

[0112] The above-described apparatus and methods may be implemented using hardware components, software components, and / or a combination of hardware and software components. For example, the apparatus and components described in each embodiment may be implemented using one or more general-purpose or special-purpose computers, such as a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of software. For ease of understanding, although a single processing device may be described as being used, a person skilled in the art will appreciate that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, the processing device may include multiple processors or one processor and one controller. Other processing configurations are also possible, such as parallel processors.

[0113] The software may include a computer program, code, instructions, or a combination of one or more of these, and may configure or instruct a processing device to operate as desired, either individually or collectively. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual device, computer storage medium or device, or transmitted signal wave, for interpretation by or providing instructions or data to a processing device. The software may be distributed over network-coupled computer systems, and stored or executed in a distributed manner. The software and data may be stored on one or more computer-readable recording media.

[0114] The embodiments of the present disclosure may also be practiced in a distributed computing environment where some tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.

[0115] As described above, each embodiment has been described based on limited drawings, but a person having ordinary skill in the art may apply various technical modifications and variations based on the above content. For example, appropriate results may be achieved even if each of the described technologies is performed in a different order from the method described, and / or each component of the described system, structure, device, circuit, etc. is combined or combined in a different form from the method described, or replaced or substituted by other components or equivalents.

[0116] Therefore, other implementations, embodiments, and equivalents of the claims are also intended to fall within the scope of the following claims. [Explanation of symbols]

[0117] 100 Elevator Car 200 Robots 300 Robot Control System 400 Elevator Car Control System 210, 310, 410 processors 220, 320, 420 Memory 230 Sensors 240, 340, 440 Communications Department 250 Drive unit 330, 430 Interface

Claims

1. receiving a hall call including an indication of the number of the two or more robots originating from the first robot and a destination floor; grasping an interior space of each elevator car based on the interior image of the elevator car; assigning elevator cars to the hall calls based on the interior space of the elevator cars; receiving a ride-on signal originating from a second robot; receiving a boarding completion signal originating from a third robot different from the second robot; and moving the elevator car to the destination floor.

2. 2. The elevator car control method of claim 1, wherein the first robot and the second robot are different robots.

3. 2. The elevator car control method according to claim 1, wherein the first robot and the second robot are the same robot.

4. 2. The elevator car control method of claim 1, further comprising the step of controlling the elevator car so that the elevator car is not assigned in response to a hall call from a passenger after the step of allocating the elevator car.

5. The number of the two or more robots is N, where N is 3, The step of allocating elevator cars based on the interior space of the elevator cars comprises: determining that there is no elevator car capable of accommodating the N robots; determining that there is an elevator car that can accommodate N-1 robots; and 2. The elevator car control method of claim 1, further comprising the step of: allocating an elevator car capable of accommodating the N-1 robots.

6. The hall call further includes information regarding the first robot, the second robot, and the third robot. receiving hall calls from the second and third robots; 2. The elevator car control method of claim 1, wherein the step of allocating elevator cars based on the internal space of the elevator cars includes the step of allocating elevator cars in response to only one of hall calls from the first, second, or third robots.

7. 2. The elevator car control method of claim 1, wherein allocating elevator cars to the hall calls based on the interior space of the elevator cars includes allocating elevator cars taking into consideration an operation mode of the elevator cars, the operation mode including a robot only mode and a robot / passenger shared mode.

8. 8. The elevator car control method of claim 7, wherein allocating elevator cars to the hall calls based on the interior space of the elevator cars includes preferentially allocating elevator cars in the robot only mode.

9. setting an operation mode of the first elevator car to a robot-only mode and operating the first elevator car; setting an operation mode of the second elevator car to a robot / passenger mode and operating the second elevator car; receiving a hall call from a first robot, the hall call including an indication of the number of the two or more robots and a destination floor; obtaining an occupancy rate within the first elevator car; obtaining occupancy within the second elevator car; and allocating elevator cars to the hall calls based on at least one of an occupancy rate inside the first elevator car, an occupancy rate inside the second elevator car, the operation modes, and a preset criterion.

10. After the step of assigning elevator cars to the hall calls, receiving a riding signal from a second robot; receiving a boarding completion signal from a third robot different from the second robot; and 10. The elevator car control method of claim 9, further comprising the step of: moving the elevator car to the destination floor.

11. receiving a grouping request signal; grouping the plurality of robots into one group in response to the grouping request signal; transmitting a grouping signal including information of each of the grouped robots; sending a signal to an elevator car control system informing the elevator car control system of each robot in the group; moving each of the grouped robots to board an elevator car; sending a hall call to the elevator car control system, the hall call including an indication of the number of each robot in the group; receiving a riding signal from a robot of the plurality of robots; and receiving a boarding completion signal from one of the plurality of robots.

12. Transmitting a hall call to an elevator car control system includes: receiving hall calls from the plurality of robots, the hall calls including robot information; and 12. The method of claim 11, further comprising: filtering out duplicate hall calls from among the hall calls received from the plurality of robots based on the grouping signal and the hall calls.

13. After grouping multiple robots into one group in response to a grouping request signal, The method of claim 11, further comprising transmitting a signal for selecting a robot that transmits the hall call to each of the grouped robots or to any one of the grouped robots.

14. A processor, and a memory configured to store each instruction word; The instructions, when executed, cause the processor to: receiving a hall call including an indication of the number of two or more robots and a destination floor; Grasp the occupancy rate of each elevator car based on the internal image of the elevator car; assigning elevator cars to the hall calls based on the occupancy rates of the elevator cars; Receive a ride-in signal from the robot; receiving a boarding completion signal from a robot different from the robot; and an elevator car control system for moving said elevator car to said destination floor;

15. 15. The elevator car control system of claim 14, wherein the processor is configured to, after allocating the elevator car, not allocate the elevator car in response to a hall call from a passenger.

16. Multiple elevator cars; a camera disposed within each elevator car and configured to capture an image of the interior of each elevator car; and a processor configured to generate a control signal to control operation of each of the elevator cars based on a request signal received from a robot; the processor is configured to receive a hall call from one robot, the hall call including an indicator indicating a plurality of robots included in a group and a destination floor, assign an elevator car for transporting the plurality of robots to the hall call based on an internal image of each elevator car, accommodate the plurality of robots in the elevator car for transporting the plurality of robots, and move them to the destination floor.

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