Cooperation device for elevator and self-propelled robot

Abstract

To provide a cooperation device of an elevator and a self-propelled robot capable of properly notifying information on operation of the elevator under an environment where a person and the self-propelled robot are mixed.SOLUTION: The coordination device (10) has a function of transmitting a getting on / off instruction for the car to the self-propelled robot (14) to start a getting on / off operation, and a function of outputting information on an operation mode of the elevator (12) and a function restriction of the elevator set in advance corresponding to the operation mode from notification means (26) provided in at least one of the landing or the car to notify the surroundings.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a cooperative device between an elevator and a self-propelled robot. [Background technology]

[0002] Conventionally, technology has been developed to place service robots in elevators through system integration (see, for example, Patent Document 1). Service robots can enter elevators by themselves using autonomous driving technology.

[0003] Elevators generally have user interfaces, such as destination floor buttons, that are operated by the passengers inside the elevator. They also have user interfaces that notify the passengers of the current floor and other status updates. These interfaces are collectively called HMI (Human Machine Interface).

[0004] Robots generally have user interfaces such as touch panels for operation, and some are also equipped with eHMI (external human-machine interface) such as body displays and speakers for communication with people around them.

[0005] As this cooperation between elevators and robots progresses, situations will arise in which humans and robots share elevators. When a robot gets on or off an elevator that is already occupied by people, it will be effective for the robot to communicate its status to people around it by displaying and speaking to alert people, helping them to share and share seats.

[0006] However, a robot alone can usually only grasp the robot's own motion control status, such as moving forward and backward. To display information and play audio on the robot's eHMI while taking into account the elevator's status (ascending and descending status, passing and stopping floors, door open / close status, etc.), information must be exchanged between the robot's control system and the elevator's control system. Furthermore, the floor at which the robot gets off is determined by destination and route information, but this information may not be stored inside the robot but may be held by a remote route control system.

[0007] To address these issues, the present patent applicant has proposed a linkage device as shown in Patent Document 2. The linkage device in Patent Document 2 links an elevator equipped with a car in which passengers get on and off, with a self-propelled robot that can autonomously travel on the floor and get on and off the car. This device sends instructions for getting on and off the car to the self-propelled robot to initiate the getting on and off action, and also causes the self-propelled robot to output information about the getting on and off action and notify those around it. This allows the self-propelled robot to get on and off the elevator smoothly in an environment where both people and self-propelled robots are present. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2021-113917 [Patent Document 2] Japanese Patent Application Publication No. 2023-58211 Summary of the Invention [Problem to be solved by the invention]

[0009] The present patent applicant has added functions to a system using the above-mentioned collaborative device and is operating it in an environment where humans and self-propelled robots coexist. One of the added functions is a robot mode, which allows the self-propelled robot to use the elevator exclusively. In robot mode, when the self-propelled robot is calling an elevator car at a landing or riding in the elevator car, a message is broadcast from a speaker inside the car to the surrounding area informing the user that the elevator is operating in robot mode. Detailed instructions are not provided by voice, and no information is displayed on a screen or the like. While operating in robot mode, temporary restrictions may be placed on the ability of humans to use the elevator. This restriction may, for example, disable the operation of the call button by a human.

[0010] However, when a user (such as a visitor) who is unaware of the above circumstances gets into an elevator car from the landing, even if a message is heard from the speaker in the car that the elevator is operating in robot mode, the detailed situation (what restrictions are in place, whether the restrictions can be lifted, how long the restrictions will be in place, etc.) is not conveyed, which can lead to confusion among users, who may mistake it for an elevator malfunction.Also, when a message is heard stating that the elevator is operating in robot mode while the user is inside the car, they may become confused because they do not know what it means.

[0011] In addition, passengers waiting at the platform are unaware that the platform is operating in robot mode. In robot mode, the call button for the car at the platform is disabled, so even if passengers at the platform try to press the call button, the button does not respond, which can cause confusion.

[0012] The present invention has been made in consideration of the above, and aims to provide a coordination device between an elevator and a self-propelled robot that can appropriately notify information regarding the operation of an elevator in an environment where people and self-propelled robots are mixed. [Means for solving the problem]

[0013] In order to solve the above-mentioned problems and achieve the objectives, the elevator and self-propelled robot coordination device of the present invention is a coordination device that coordinates an elevator equipped with a car in which passengers get on and off, and a self-propelled robot that can get on and off the car by autonomously traveling on the floor of the elevator hall, and is characterized by having a function of sending boarding and alighting instructions for the car to the self-propelled robot to initiate the boarding and alighting operations, and a function of outputting information regarding the operation mode of the elevator and the functional limitations of the elevator that are preset corresponding to the operation mode from an alarm means provided in at least one of the hall or the car to alert those in the vicinity.

[0014] Another elevator and self-propelled robot cooperation device according to the present invention is characterized in that, in the above invention, the notification means notifies those around by voice or display.

[0015] Furthermore, another elevator and self-propelled robot linkage device according to the present invention is characterized in that, in the above-mentioned invention, when the elevator is operating in robot mode, the notification means provided at the landing issues information that the elevator is operating in robot mode, information that prohibits entry into the car, and guidance information encouraging the use of another means of transportation.

[0016] Another elevator and self-propelled robot linkage device according to the present invention is characterized in that, in the above-mentioned invention, when the elevator is operating in robot mode, the notification means provided in the car notifies the user that the elevator is operating in robot mode and provides guidance information urging the user to get off the car and use another means of transportation.

[0017] In addition, another elevator and self-propelled robot coordination device according to the present invention is characterized in that, in the above-mentioned invention, when the elevator is operating in robot mode, the notification means provided at the landing or the car notifies the user that the elevator is operating in robot mode, information about the destination floor or boarding floor of the self-propelled robot, priority information about whether the self-propelled robot or passengers should be given priority for boarding and disembarking, and information about the passing positions of the self-propelled robot and passengers when boarding and disembarking.

[0018] In addition, another elevator and self-propelled robot coordination device according to the present invention is characterized in that, in the above-mentioned invention, when the elevator is operating in robot mode, the notification means provided at the landing and the car notify the user that the elevator is operating in robot mode and that door operation of the elevator is temporarily restricted to allow the self-propelled robot to board and disembark. [Effects of the Invention]

[0019] The elevator and self-propelled robot coordination device of the present invention is a coordination device that coordinates an elevator equipped with a car in which passengers get on and off, and a self-propelled robot that can get on and off the car by autonomously traveling on the floor of the elevator hall, and has the function of sending boarding and alighting instructions for the car to the self-propelled robot to initiate the boarding and alighting operations, and the function of outputting information regarding the elevator's operation mode and the elevator's pre-set functional limitations corresponding to the operation mode from an alarm means provided in at least one of the hall or the car to notify those in the vicinity, thereby achieving the effect of being able to appropriately notify information regarding the elevator's operation mode and the elevator's pre-set functional limitations corresponding to the operation mode in an environment where people and self-propelled robots are mixed.

[0020] In addition, according to another elevator and self-propelled robot coordination device of the present invention, the notification means notifies those in the vicinity by voice or display, thereby achieving the effect of being able to notify by voice or display.

[0021] Furthermore, according to another elevator and self-propelled robot cooperation device according to the present invention, when the elevator is operating in robot mode, the notification means provided at the hall issues information that the elevator is operating in robot mode, information that prohibits entry into the car, and guidance information that encourages the use of another form of transportation, so that when the elevator is operating in robot mode, it is possible to guide people not to ride in the car with the self-propelled robot, and it also has the effect of guiding users to another form of transportation.

[0022] Furthermore, according to another elevator and self-propelled robot cooperation device of the present invention, when the elevator is operating in robot mode, the notification means provided in the car issues information that the elevator is operating in robot mode and guidance information encouraging the user to get off the car and use another form of transportation. Therefore, if a person accidentally gets into the car while the elevator is operating in robot mode, the self-propelled robot can be guided not to ride in the car with the person. This also has the effect of guiding the user to another form of transportation.

[0023] Furthermore, according to another elevator and self-propelled robot cooperation device of the present invention, when the elevator is operating in robot mode, the notification means provided at the hall or the car notifies the user that the elevator is operating in robot mode, the destination floor or boarding floor of the self-propelled robot, priority information indicating whether the self-propelled robot or passengers will be given priority for boarding and disembarking, and information on the passing positions of the self-propelled robot and passengers when boarding and disembarking.This makes it possible to allow a self-propelled robot and a person to ride in the car together when the elevator is operating in robot mode.Another effect is achieved by being able to guide the movement of users so as not to interfere with the self-propelled robot.

[0024] Furthermore, according to another elevator and self-propelled robot coordination device of the present invention, when the elevator is operating in robot mode, the notification means provided at the landing and the car notify the user that the elevator is operating in robot mode and that operation of the elevator doors will be temporarily restricted to allow the self-propelled robot to board and disembark. Therefore, for example, when a self-propelled robot is present at the landing of the arrival floor, information is notified that operation of the door close button will be temporarily disabled until the self-propelled robot has completed boarding and disembarking operations, thereby preventing users from mistaking the close button for a malfunction. [Brief explanation of the drawings]

[0025] [Figure 1] FIG. 1 is a schematic diagram showing an embodiment of a cooperation device between an elevator and a self-propelled robot according to the present invention. [Figure 2] FIG. 2 is an explanatory diagram of the getting-on and getting-off operation of the self-propelled robot according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0026] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a cooperative device between an elevator and a self-propelled robot according to the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiment.

[0027] The robot mode of the present invention is defined as a mode in which the coordination device can control the elevator and the self-propelled robot for use by the self-propelled robot. Therefore, the robot mode of the present invention includes situations in which the self-propelled robot exclusively uses the elevator, as well as situations in which the self-propelled robot and a person share the elevator and the self-propelled robot and person ride in the elevator together. For example, when riding together, the robot mode also includes temporarily disabling the user's (person's) car call button operation, or placing the self-propelled robot in the elevator and closing the door.

[0028] (Linked device) As shown in FIG. 1, a coordination device 10 according to an embodiment of the present invention coordinates the operation of an elevator 12 installed in a building and a self-propelled robot 14 that travels with the elevator 12 along the hallways of the building to deliver luggage and the like. This coordination device 10 includes a communication unit 16, a route setting unit 18, and a control unit 20. The communication unit 16 transmits and receives coordination information between the elevator 12 and the self-propelled robot 14 via a network N. The network N may be either a public line network or a dedicated line network.

[0029] The route setting unit 18 is a setting means for setting the travel route of the self-propelled robot 14. This route is composed of the loading point, the departure floor of the self-propelled robot 14 relative to the elevator 12, the travel route up to that point, the destination floor, and the travel route from there to the unloading point. The route setting unit 18 sets these by referring to information input by the user or information such as the corridors in the building, the loading point, the unloading point, and the elevator positions that is registered in advance in a database (not shown).

[0030] The control unit 20 is a control means for controlling the operation of the elevator 12 and the operation of the self-propelled robot 14. In this embodiment, it is assumed that the elevator 12 has two operation modes: a normal mode and the robot mode described above, and the control unit 20 can switch the operation mode of the elevator 12 between the robot mode and the normal mode. Information regarding functional restrictions of the elevator 12 is set in advance corresponding to each operation mode. In the robot mode, functional restrictions are set for the elevator 12, whereas in the normal mode, functional restrictions are not set for the elevator 12. The functional restrictions of the elevator 12 refer to the imposition of certain restrictions on the operation functions of the elevator 12 by humans, such as temporarily disabling the operation of the car call button by humans.

[0031] The control unit 20 generates information for controlling the operation of the elevator 12 and the self-propelled robot 14 based on the set operation mode of the elevator 12 and the route set by the route setting unit 18, and transmits the generated information to the elevator 12 and the self-propelled robot 14 via the communication unit 16. The control unit 20 also transmits instructions to the self-propelled robot 14 to get on and off the elevator 12, causing it to start the getting on and off operation, and causes the self-propelled robot 14 to output operation information (information about the getting on and off operation). This notifies surrounding people and passengers of the operation information of the self-propelled robot 14. The control unit 20 also transmits information about the operation mode of the elevator 12 and the corresponding functional limitations of the elevator 12 to the elevator 12, and causes the elevator 12 to output predetermined information. The output information includes information about the operation mode of the elevator 12 and the corresponding functional limitations of the elevator 12. Hereinafter, this output information will be referred to as operation information of the elevator 12. This notifies surrounding people and passengers of information including the mode of operation of the elevator 12 and information regarding functional limitations of the elevator 12.

[0032] (Elevator) The elevator 12 has a communication unit 22, a control unit 24, an HMI unit 26, and a car unit 28. The communication unit 22 is communicatively connected to the communication unit 16 of the linked device 10 via a network N. The car unit 28 has a car through which passengers get on and off, a door provided on the front of the car, a door opening / closing function for opening and closing the door, and a lifting function for moving the car up and down along the hoistway. The control unit 24 controls the operation of the elevator 12, including the HMI unit 26 and the car unit 28.

[0033] The HMI unit 26 is a human-machine interface that outputs information to the user and allows the user to input instructions to the elevator 12. The HMI unit 26 includes a display unit 26A such as a display, an audio output unit 26B such as a speaker, and an operation unit 26C such as a touch panel or buttons. The operation unit 26C may include a microphone that inputs audio for operation by the user. The HMI unit 26 is provided on a wall inside the car and on a wall outside the car at each landing. The location where the HMI unit 26 is provided is not limited to the wall inside the car and the wall at the landing, and may be provided anywhere that can notify information to users inside the car and users at the landing. The HMI unit 26 may be configured to include either the display unit 26A or the audio output unit 26B.

[0034] The display unit 26A is a notification means that outputs and displays information including operation information of the elevator 12 in response to a control signal input from the control unit 24 to notify those around. The audio output unit 26B is a notification means that outputs audio corresponding to this information to notify those around. By displaying the current operation information of the elevator 12 on the display unit 26A, the current operation status of the elevator 12 can be visually notified to people and passengers around. Furthermore, by outputting the current operation information of the elevator 12 as audio from the audio output unit 26B, the current operation status of the elevator 12 can be audibly notified to people and passengers around. The current operation information of the elevator 12 may include, for example, information about the current operation mode of the elevator 12 (e.g., robot mode, normal mode, etc.), and in the case of robot mode, information about functional limitations of the elevator 12. The display unit 26A and the audio output unit 26 may output not only the current operation information of the elevator 12 but also detailed information useful to the user.

[0035] The operation unit 26C accepts operations from the user. When the user inputs an operation instruction to the operation unit 26C, the operation unit 26C outputs a control signal corresponding to this input to the control unit 24. When a user calls the car in front of the elevator 12 hall, the user operates the operation unit 26C of the HMI unit 26 on the wall of the hall to move the car up and down to the departure floor and then open the door. When a user in the car wants to move to a desired floor, the user operates the operation unit 26C of the HMI unit 26 on the wall inside the car to move the car up and down to the destination floor and then open the door.

[0036] (self-propelled robot) The self-propelled robot 14 is a luggage delivery robot that autonomously travels on the floor of the elevator 12 landing at each floor and can get on and off the elevator 12. The self-propelled robot 14 has a communication unit 30, a control unit 32, an eHMI unit 34, and an autonomous driving unit 36. The communication unit 30 is communicatively connected to the communication unit 16 of the linked device 10 via a network N. The autonomous driving unit 36 ​​detects obstacles and causes the self-propelled robot 14 to travel autonomously, and has a self-position estimation function that estimates its own position within a building, a target position estimation function that estimates a target position to which the self-propelled robot should next move, a target path generation function that generates a path to move from the self-position to the target position, and a driving mechanism, a braking mechanism, and a steering mechanism that cause the self-propelled robot to travel.

[0037] The control unit 32 controls the operation of the self-propelled robot 14, including the eHMI unit 34 and the autonomous driving unit 36. The control unit 32 controls the autonomous driving unit 36 ​​so that the self-propelled robot 14 moves along the path set by the path setting unit 18 of the coordination device 10. For example, the control unit 32 controls the self-propelled robot 14 to move in front of the elevator 12 at the set departure floor, and then to get into the car. The control unit 32 also controls the self-propelled robot 14 to get off the car at the set destination floor. The control unit 32 also causes the eHMI unit 34 to output operation information based on command information from the control unit 20 of the coordination device 10.

[0038] The eHMI unit 34 is a human-machine interface that transmits operational information about the self-propelled robot 14 to people and passengers in the vicinity, and is composed of a display and a speaker. The display of the eHMI unit 34 is provided on the side or top of the self-propelled robot 14 so that it is visible to people and passengers in the vicinity. The speaker is provided on the side or top of the self-propelled robot 14 so that it can be heard by people and passengers in the vicinity.

[0039] The eHMI unit 34 outputs and displays current operation information of the self-propelled robot 14 on the display in response to a control signal input from the control unit 32. Also, in response to a control signal input from the control unit 32, the eHMI unit 34 outputs the current operation information of the self-propelled robot 14 as audio from a speaker. By displaying the current operation information on the display, nearby people and passengers can be visually notified of the current operating status of the self-propelled robot 14. Also, by outputting the current operation information as audio from the speaker, nearby people and passengers can be audibly notified of the current operating status of the self-propelled robot 14. Note that a configuration including either a display or a speaker may be used. The eHMI unit 34 may also include a display unit with a display and touch panel for outputting information to the user and for the user to input instructions to the self-propelled robot 14, as well as buttons.

[0040] An example of the operation and function of the above configuration will now be described. First, the coordination device 10 appropriately references the operation status of the self-propelled robot 14 and the elevator 12. Then, based on the route set in advance by the route setting unit 18, it determines the next elevator 12 to use on the route. Furthermore, it determines the elevator 12 to be used, the boarding car floor (departure floor), the descending car floor (destination floor), and the timing of the operation of the elevator 12 and the operation of the self-propelled robot 14, and notifies this information to the self-propelled robot 14 and the elevator 12, respectively.

[0041] Based on the information notified from the linking device 10, the elevator 12 performs control to call the car to the designated car floor, and when it arrives at the car floor, it opens the door and sends a notification to the linking device 10 that it has arrived at the car floor. The elevator 12 also controls the HMI unit 26 (display unit 26A, audio output unit 26B) provided in the car and at the landing to notify the surrounding area of ​​operation information of the elevator 12 (robot mode, normal mode, functional restrictions of the elevator 12, etc.). Specific examples of notification will be described later.

[0042] Meanwhile, as shown in Fig. 2(1), the self-propelled robot 14 moves in front of the elevator 12 based on the information notified from the linking device 10. The control unit 32 determines whether there is a waiting time based on the notified timing of the elevator 12 operation, and if there is a waiting time, starts displaying and playing audio on the display and speaker of the eHMI unit 34 indicating that the elevator is waiting (current operation information).

[0043] When the linkage device 10 receives a notification from the elevator 12 that the elevator has arrived at the car floor, it performs car entry start control and sends a car entry start instruction to the self-propelled robot 14. In addition, until it receives a car entry completion notification from the self-propelled robot 14, it sends an instruction to the elevator 12 to extend the time the door is open.

[0044] When the self-propelled robot 14 receives a car entry start command from the linking device 10, it starts displaying and playing audio from the eHMI unit 34 to indicate boarding cautions (current operation information) and performs car entry operations, as shown in FIG. 2(2). When the boarding operation is completed, it sends a boarding completion notification to the linking device 10 and ends the display and audio playback of the boarding cautions. Thereafter, as shown in FIG. 2(3), it starts displaying the destination floor, indicating the descending car floor. In this way, when the self-propelled robot 14 gets on or off the elevator 12, the self-propelled robot 14 displays information and plays audio that takes into account the status of the elevator 12 and the destination floor. This allows the self-propelled robot 14 to get on and off the elevator 12 smoothly in an environment where people and self-propelled robots 14 coexist.

[0045] The linkage device 10 receives a car completion notification from the self-propelled robot 14, performs car completion control, and sends the car completion notification to the elevator 12. Also, if an instruction to extend the door open time has been sent, the linkage device 10 sends an instruction to cancel this.

[0046] Upon receiving a notification of completion of boarding the car from the linking device 10, the elevator 12 sets the destination floor (destination car floor) and closes the door. Thereafter, the elevator 12 performs an elevator car raising and lowering operation, and when it arrives at the destination floor, it opens the door and sends a notification of arrival at the destination floor to the linking device 10. The elevator 12 also controls the HMI unit 26 to notify operation information of the elevator 12, etc.

[0047] When the linkage device 10 receives a notification from the elevator 12 that it has arrived at the destination floor, it performs descending car start control and sends a descending car start instruction to the self-propelled robot 14. In addition, until it receives a descending car completion notification from the self-propelled robot 14, it sends an instruction to the elevator 12 to extend the time the door is open.

[0048] When the self-propelled robot 14 receives a car unloading start command from the linking device 10, it starts displaying and playing audio on the eHMI unit 34 to indicate a car unloading warning (current operation information) and performs the car unloading operation, as shown in FIG. 2(4). When the car unloading operation is completed, it sends a car unloading completion notification to the linking device 10 and ends the display and audio of the car unloading warning. Then, it moves to the next destination and starts displaying a message indicating that delivery is in progress.

[0049] The linkage device 10 receives a notification of completion of the descending car from the self-propelled robot 14, performs descending car termination control, and sends the descending car completion notification to the elevator 12. Also, if an instruction to extend the door open time has been sent, the linkage device 10 sends an instruction to cancel this.

[0050] Upon receiving the notification of completion of the elevator car descending from the linkage device 10, the elevator 12 closes the door as shown in FIG. 2(5).

[0051] As shown in FIG. 2(6), the self-propelled robot 14 moves toward a predetermined set position (unloading point or loading point).

[0052] According to this embodiment, it is possible to appropriately notify the user of the operation information of the elevator 12 in an environment where people and the self-propelled robot 14 coexist. Furthermore, even when the self-propelled robot 14 is not present, the user can easily determine whether the elevator 12 is in robot mode or normal mode. When the elevator 12 is in robot mode, the user can understand the details of the functional restrictions of the elevator 12.

[0053] (Example) Next, an example of notification by the HMI unit 26 (display unit 26A, audio output unit 26B) when the elevator 12 is operating in the robot mode will be described.

[0054] First, a case where a notification is given to a person waiting for the elevator 12 at a landing will be described. In this case, the HMI unit 26 provided at the landing notifies the person of operation information of the elevator 12, including the fact that it is operating in robot mode, information prohibiting entry into the car, and guidance information encouraging the person to use another means of transportation. This prevents a person at the landing from getting into the car, and makes it possible to guide the person and the self-propelled robot 14 not to ride in the car together. Also, it is possible to guide a person who intends to use the elevator 12 to another means of transportation. Assumed alternative means of transportation are, for example, a nearby elevator, escalator, or stairs.

[0055] Next, a case where a person who has mistakenly entered the car of the elevator 12 is notified will be described. In this case, the HMI unit 26 provided in the car notifies the person of operation information of the elevator 12, including the fact that it is operating in robot mode, and guidance information encouraging the person to get off the car and use another means of transportation. In this way, if a person mistakenly enters the car without realizing that it is in robot mode, it is possible to guide the person so that the self-propelled robot 14 does not ride in the car together. It is also possible to guide the person who has entered the car to another means of transportation.

[0056] Next, a case where the self-propelled robot 14 and a person are allowed to ride together in the car will be described. In this case, the HMI unit 26 provided at the hall or the car provides information that the elevator is one in which robots and people coexist, operation information for the elevator 12 including information that it is operating in robot mode, information about the destination floor and boarding floor of the self-propelled robot 14, priority information such as whether the self-propelled robot 14 or the passenger has priority for boarding and disembarking, and information about the passing positions of the self-propelled robot 14 and passengers when boarding and disembarking (boarding position, passing positions to the left and right, etc.). The priority information may also include information about the priority order between the self-propelled robots 14. In this way, the self-propelled robot 14 and a person are allowed to ride together in the car, and the movement of the person in the car and the movement of the person at the hall can be guided so as not to interfere with the self-propelled robot 14.

[0057] Next, a case where the user is made to wait while getting on and off the self-propelled robot 14 will be described.

[0058] First, HMI unit 26 installed at the platform issues the following information: that it is operating in robot mode; that operation of the door close button will be temporarily disabled until self-propelled robot 14 has completed boarding and disembarking operations; and that people at the platform should wait where they are until self-propelled robot 14 has completed boarding and disembarking operations. This prevents users at the platform from mistaking this for a malfunction of the close button.

[0059] Additionally, the HMI unit 26 installed in the car provides the following information: information that the car is operating in robot mode; information about the boarding floor and destination floor of the self-propelled robot 14; information that operation of the door close button will be temporarily disabled until the self-propelled robot 14 has completed boarding and alighting operations; and information that guides people in the car to wait where they are until the self-propelled robot 14 has completed boarding and alighting operations. This prevents users in the car from mistaking the close button for a malfunction. This is effective when the self-propelled robot 14 is the only robot at the arrival floor.

[0060] The notification mode by the HMI unit 26 is not limited to the above. For example, in an emergency such as a disaster, the control unit 24 controls the elevator 12 to stop the car at the nearest floor and then allow passengers to exit the car. At this time, the HMI unit 26 provided in the car or at the landing may notify the passengers of this and may also guide them to evacuation by notifying them of an evacuation route to take after they exit the car.

[0061] Furthermore, if the elevator 12 breaks down, the HMI unit 26 may notify those in the vicinity of the breakdown and provide guidance on how to deal with the breakdown. If the HMI unit 26 is unable to make a report due to a breakdown or other reason, the eHMI unit 34 of the self-propelled robot 14 may take over the reporting role.

[0062] As described above, the elevator and self-propelled robot coordination device of the present invention is a coordination device that coordinates an elevator equipped with a car in which passengers get on and off, and a self-propelled robot that can get on and off the car by autonomously traveling on the floor of the elevator hall, and has the function of sending boarding and alighting instructions for the car to the self-propelled robot to initiate the boarding and alighting operations, and the function of outputting information regarding the elevator's operation mode and the elevator's preset functional limitations corresponding to the operation mode from an alarm means provided in at least one of the hall or the car to notify those in the vicinity.Therefore, in an environment where people and self-propelled robots are mixed, information regarding the elevator's operation mode and the elevator's preset functional limitations corresponding to the operation mode can be appropriately notified.

[0063] Furthermore, according to another elevator and self-propelled robot coordination device of the present invention, the notification means notifies those in the vicinity by voice or display, so that notification can be made by voice or display.

[0064] Furthermore, according to another elevator and self-propelled robot cooperation device according to the present invention, when the elevator is operating in robot mode, the notification means provided at the hall issues information that the elevator is operating in robot mode, information that prohibits entry into the car, and guidance information that encourages the use of another form of transportation, so that when the elevator is operating in robot mode, it is possible to guide people not to ride in the car with the self-propelled robot, and also to guide users to another form of transportation.

[0065] Furthermore, according to another elevator and self-propelled robot cooperation device according to the present invention, when the elevator is operating in robot mode, the notification means provided in the car issues information that the elevator is operating in robot mode and guidance information encouraging the user to get off the car and use another form of transportation. Therefore, if a person accidentally gets into the car while the elevator is operating in robot mode, the self-propelled robot can be guided not to ride in the car with the person. The user can also be guided to another form of transportation.

[0066] Furthermore, according to another elevator and self-propelled robot cooperation device according to the present invention, when the elevator is operating in robot mode, the notification means provided at the hall or the car notifies the user that the elevator is operating in robot mode, the destination floor or boarding floor of the self-propelled robot, priority information indicating whether the self-propelled robot or passengers will be given priority for boarding and disembarking, and information on the passing positions of the self-propelled robot and passengers when boarding and disembarking. Therefore, when operating in robot mode, the self-propelled robot and a person can be allowed to ride in the car together. Furthermore, the user's movement can be guided so as not to interfere with the self-propelled robot.

[0067] Furthermore, according to another elevator and self-propelled robot coordination device of the present invention, when the elevator is operating in robot mode, the notification means provided at the landing and the car notify the user that the elevator is operating in robot mode and that operation of the elevator doors will be temporarily restricted to allow the self-propelled robot to board and disembark. Therefore, for example, if only a self-propelled robot is present at the landing of the arrival floor, the notification means notifies the user that operation of the door close button will be temporarily disabled until the self-propelled robot has completed boarding and disembarking operations, thereby preventing the user from mistaking the close button for a malfunction.

[0068] The Sustainable Development Goals (SDGs) are 17 international goals that were adopted at the United Nations Summit in September 2015. The elevator and self-propelled robot coordination device according to this embodiment can contribute to achieving one of the 17 SDGs, for example, goal 11, "Make cities and towns inclusive, sustainable and sustainable urban areas." [Industrial Applicability]

[0069] As described above, the elevator and self-propelled robot coordination device of the present invention is useful in buildings where self-propelled robots use elevators to transport luggage, and is particularly suitable for reporting information about elevator operation in environments where people and self-propelled robots coexist. [Explanation of symbols]

[0070] 10. Coordination device between elevator and self-propelled robot 12 Elevator 14 Self-propelled robot 16, 22, 30 Communications Department 18 Route setting unit (setting means) 20, 24, 32 control unit (control means) 26 HMI section 26A Display unit (notification means) 26B Audio output unit (notification means) 26C Operation section 28 Cage section (cage) 34 eHMI section 36 Autonomous Driving Unit N Network

Claims

1. A linking device that links an elevator having a car in which passengers get on and off, and a self-propelled robot that can autonomously travel on the floor of the elevator hall and get on and off the car, a function of transmitting a riding / dismounting instruction for the car to the self-propelled robot to start riding / dismounting operations; A linkage device between an elevator and a self-propelled robot, characterized in that it has a function of outputting information regarding the operation mode of the elevator and functional limitations of the elevator that are preset corresponding to the operation mode from an alarm means provided in at least one of the landing or the car, thereby notifying those in the vicinity.

2. 2. The elevator and self-propelled robot cooperation device according to claim 1, wherein the notification means notifies those around by voice or display.

3. 3. The linkage device between an elevator and a self-propelled robot according to claim 1 or 2, wherein, when the elevator is operating in the robot mode, the notification means provided at the landing issues information that the elevator is operating in the robot mode, information that entry into the car is prohibited, and guidance information that urges the user to use another means of transportation.

4. 3. The elevator and self-propelled robot cooperation device according to claim 1, wherein when the elevator is operating in the robot mode, the notification means provided in the car issues information that the elevator is operating in the robot mode and guidance information urging the user to get off the car and use another means of transportation.

5. 3. The elevator and self-propelled robot cooperation device according to claim 1 or 2, characterized in that, when the elevator is operating in robot mode, the notification means provided at the landing or the car notifies the user of information that the elevator is operating in robot mode, information about the destination floor or boarding floor of the self-propelled robot, priority information about whether the self-propelled robot or passengers will have priority for boarding and disembarking, and information about the passing positions of the self-propelled robot and passengers when boarding and disembarking.

6. 3. The elevator and self-propelled robot cooperation device according to claim 1 or 2, characterized in that, when the elevator is operating in robot mode, the notification means provided at the landing and the car notify the user that the elevator is operating in robot mode and that door operation of the elevator will be temporarily restricted to allow the self-propelled robot to get on and off.

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