Elevator control system

Abstract

The present invention provides an elevator control system that can suppress a decrease in the efficiency of both autonomous vehicles and passengers without excessively restricting the boarding of autonomous vehicles. [Solution] The elevator control system according to the present disclosure is an elevator control system 1 that controls an autonomous mobile vehicle 100 and a plurality of elevators 200 that can be boarded by a user from a single landing, and comprises a determination unit 302 that determines whether or not a user is holding an emergency indicator X that indicates the urgency of movement, and a control unit 303 that, if it is determined that a user is holding an emergency indicator X, switches at least one of the elevators 200 that are operating in a mobile vehicle-only mode that can only be boarded by the autonomous mobile vehicle 100 to a general-purpose mode that can be boarded by a user.

Description

Technical Field

[0001] This disclosure relates to an elevator control system.

Background Art

[0002] For example, when an autonomous mobile body such as a robot moves within a facility having multiple floors such as a building, the use of an elevator by the autonomous mobile body is essential. However, since the elevator is also used by people, consideration for the safety of people is required for the autonomous mobile body to use the elevator. Therefore, there is a need for a system that can suppress a decrease in the operating efficiency of the elevator while taking into account the safety of users.

[0003] Patent Document 1 discloses a technique for canceling the boarding of an autonomous mobile body to an elevator and prioritizing the boarding of general users when the congestion level of the elevator landing exceeds a predetermined value.

Prior Art Documents

Patent Documents

[0004]

Patent Document

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, if the boarding of an autonomous mobile body is immediately restricted during congestion as in the technique described in Patent Document 1, there is a risk that the use of the elevator by an autonomous mobile body with a high priority may be suppressed more than necessary. Therefore, even when the elevator landing is temporarily congested, the development of a technique for suppressing the excessive restriction of the use of the elevator by the autonomous mobile body is desired.

[0006] This disclosure has been made to solve such problems, and provides an elevator control system capable of suppressing a decrease in the boarding efficiency of an autonomous mobile body and a person without excessively restricting the boarding of the autonomous mobile body. [Means for solving the problem]

[0007] The elevator control system according to this disclosure is an elevator control system that controls multiple elevators from a single landing on which autonomous mobile vehicles and users can board, and comprises: a determination unit that determines whether or not the user is holding an emergency indicator indicating the urgency of their movement; and a control unit that, if it is determined that the user is holding the emergency indicator, switches at least one of the elevators operating in a mobile vehicle-only mode (on which only autonomous mobile vehicles can board) to a general-purpose mode (on which the user can board). This makes it possible to prioritize boarding for users with a high urgency of movement without excessively restricting autonomous mobile vehicles from boarding elevators during congestion. The determination unit may perform the determination using a trained model generated by machine learning or the like.

[0008] The determination unit determines that the user is holding the emergency display by detecting that the image captured by the imaging means includes the emergency display.

[0009] The determination unit determines that the user is holding the emergency display by detecting the reception of a signal transmitted by the emergency display.

[0010] When the control unit switches at least one of the elevators operating in the mobile-only mode to the general-purpose mode, it limits the number of autonomous mobile vehicles that can board the elevator based on the degree of urgency indicated by the emergency indicator.

[0011] When the control unit detects that all users have disembarked from an elevator that has been switched from the mobile-only mode to the general-purpose mode, it switches the elevator's operating mode back to the mobile-only mode. [Effects of the Invention]

[0012] The present invention provides an elevator control system that can suppress a decrease in the efficiency of both autonomous vehicles and passengers without excessively restricting the boarding of autonomous vehicles. [Brief explanation of the drawing]

[0013] [Figure 1] Figure 1 is a diagram showing the configuration of the elevator control system according to this disclosure. [Figure 2] Figure 2 is a block diagram showing the configuration of the control device related to this disclosure. [Figure 3] Figure 3 is a flowchart of the elevator control method according to Embodiment 1. [Figure 4] Figure 4 is a flowchart of the elevator control method according to Embodiment 2. [Modes for carrying out the invention]

[0014] The following describes specific embodiments of this disclosure in detail with reference to the drawings. However, this disclosure is not limited to the following embodiments. Also, for clarity, the following descriptions and drawings have been simplified as appropriate.

[0015] (Embodiment 1) <Configuration of the elevator control system> The elevator control system according to this embodiment is a system that controls multiple elevators that can be boarded, i.e., used by autonomous mobile vehicles and users, from a single landing. This elevator control system is introduced in facilities where multiple elevators are installed at a single landing. Examples of such facilities include medical and welfare facilities such as hospitals, rehabilitation centers, nursing homes, and elderly care facilities, as well as commercial facilities such as shopping malls. Users include not only facility staff but also temporary users of the facility.

[0016] The configuration of the elevator control system according to this embodiment 1 will be described below with reference to Figure 1. Figure 1 is a diagram showing the configuration of the elevator control system according to this disclosure. The elevator control system 1 comprises an autonomous mobile unit 100, an elevator 200, a management device 300, an environmental camera 400, and a receiver 500.

[0017] The autonomous mobile unit 100, elevator 200, management device 300, environmental camera 400, and receiver 500 are interconnected via a network NW in a manner that enables information transmission. The network NW includes communication lines such as the Internet, LAN (Local Area Network), and WAN (Wide Area Network), as well as communication networks such as base stations. The network NW can be wired or wireless, as long as it is connected in a manner that enables information transmission.

[0018] The autonomous mobile unit 100 is, for example, a mobile robot capable of moving within a facility. In the following, an autonomous mobile unit 100 capable of transporting objects is given as an example. As shown in Figure 1, the autonomous mobile unit 100 comprises a chassis 110 for carrying objects, a stand 120, an operating unit 130, and a lifting mechanism 140. The chassis 110 is equipped with wheels 111, axles, a battery, a control computer 101, a drive motor, etc. The autonomous mobile unit 100 can move in both the forward and backward directions. Furthermore, the control computer 101 may be mounted in an appropriate location on the chassis 110 as shown in the figure, or part or all of it may be mounted on at least one of the stand 120 and the operating unit 130.

[0019] For example, suppose the autonomous mobile device 100 moves around within a general hospital with multiple medical departments. The autonomous mobile device 100 transports items such as supplies, consumables, and medical equipment between multiple medical departments. For example, the autonomous mobile device 100 delivers items from the nurse station of one medical department to the nurse station of another medical department. Alternatively, the autonomous mobile device 100 delivers items from a storage room for supplies and medical equipment to the nurse station of a medical department. Furthermore, the autonomous mobile device 100 delivers medications dispensed in the pharmacy to the medical department or patient where they are to be used.

[0020] Assume that a plurality of autonomous mobile robots 100 are being used in a facility. Each autonomous mobile robot 100 performs transportation to a destination according to the assigned task. When the destination is on a different floor from the current position, the autonomous mobile robot 100 moves using the elevator 200.

[0021] A plurality of elevators 200 are provided in the facility. More specifically, there is one or more boarding areas for boarding the elevator 200 within the facility. And there are multiple elevators 200 in one boarding area. The elevator 200 operates in either a dedicated mode for mobile robots or a general-purpose mode. The dedicated mode for mobile robots is an operation mode in which only the autonomous mobile robot 100 can board. Therefore, users cannot board the elevator 200 in the dedicated mode for mobile robots. The general-purpose mode is an operation mode in which both users and the autonomous mobile robot 100 can board. The switching of these operation modes is performed by the management device 300. Note that the elevator 200 itself may perform the switching of the operation mode. In this case, the management device 300 may cause the elevator 200 targeted for the switching instruction to perform the switching of the operation mode by simply sending the switching instruction.

[0022] In the dedicated mode for mobile robots, the management device 300 or the elevator 200 may prevent users from boarding the elevator 200 in the dedicated mode for mobile robots by causing a display device (not shown) to display "Dedicated for Mobile Robots" or the like. On the other hand, in the general-purpose mode, the management device 300 or the elevator 200 may not perform any display on the display device, or may cause the display device to display that boarding is possible so that users can recognize it. Also, the call button provided at the boarding area for calling the elevator 200 to the boarding area may be equipped with a function to detect a biological reaction. Thereby, the management device 300 or the elevator 200 can also be configured not to respond to the selection operation of the call button from the user in the dedicated mode for mobile robots. Further, in the dedicated mode for mobile robots, the management device 300 or the elevator 200 may perform control so that the door does not open even if the call button is pressed unless the arrival of the autonomous mobile robot 100 at the boarding area is detected.

[0023] The control device 300 manages the operation of multiple elevators 200. For the sake of simplicity, the following explanation will only describe the management of the operation of multiple elevators 200 located in a single landing, but the same management is performed for multiple elevators 200 located in each landing. In the case of a landing with only one elevator 200, its operation can be managed individually.

[0024] The management device 300 can prioritize boarding for users with a high level of urgency for travel without excessively restricting boarding of autonomous mobile units 100 when the elevator landing is crowded with autonomous mobile units 100 and users waiting to board the elevator 200. The configuration of the management device will be explained using Figure 2. Figure 2 is a block diagram showing the configuration of the management device according to this disclosure. The management device 300 comprises a communication unit 301, a determination unit 302, and a control unit 303.

[0025] The determination unit 302 first determines whether the level of congestion of users and autonomous mobile units 100 at the landing exceeds a predetermined value. The determination unit 302 detects the presence of users and autonomous mobile units 100 from the images captured by the environmental camera 400 and calculates the level of congestion. Then, the determination unit 302 determines whether the level of congestion exceeds a predetermined value. The predetermined value for the level of congestion is a value that is set in advance, and can be determined, for example, by the number of people and weight that the elevator 200 can accommodate when operating in general-purpose mode.

[0026] Next, the determination unit 302 determines whether there is an emergency user U at the landing. An emergency user U is a user of the elevator 200 whose need for travel is particularly urgent. An emergency user U holds an emergency display device X that indicates that they are a user with a high need for travel. Therefore, the determination unit 302 detects the presence of an emergency user U by determining whether any user at the landing is holding an emergency display device X.

[0027] An example of an emergency indicator X is a garment X1 that can be easily put on and taken off by the user, such as a hat, armband, badge, or sash. An emergency user U can inform the determination unit 302 that they are a user with a high degree of urgency regarding movement by wearing the garment X1. First, the determination unit 302 acquires images of the facility taken by the environmental camera 400 from the environmental camera 400 via the communication unit 301 and the network NW. Then, the determination unit 302 detects the presence of an emergency user U by detecting whether the acquired image contains the garment X1. Methods for detecting whether the image contains the garment X1 include, but are not limited to, recognizing the shape of the garment X1 or a 2D code attached to the garment X1.

[0028] Furthermore, examples of emergency presenters X include beacons that emit radio waves such as Bluetooth® or Bluetooth Low Energy®, and RFID (Radio Frequency Identification) tags such as NFC (Near Field Communication) tags, etc., as transmitters X2. Emergency user U can notify the determination unit 302 that they are a user with a high degree of urgency regarding movement by the signal from the transmitter X2 they are carrying. First, the determination unit 302 acquires the signal information received by the receiver 500 from the receiver 500 via the communication unit 301 and the network NW. Then, the determination unit 302 detects the presence of emergency user U by detecting that the acquired signal information includes the identification information of the transmitter X2.

[0029] As described above, the determination unit 302 determines that a user is an emergency user U if the user is holding either the wearable item X1 or the transmitter X2, which are emergency presenters X. Note that both the wearable item X1 and the transmitter X2 may be used to determine if a user is an emergency user U. Using both the wearable item X1 and the transmitter X2 can suppress the occurrence of misidentification of emergency user U. Furthermore, the degree of urgency presented by the emergency presenter X may differ depending on, for example, the shape and color of the wearable item X1 or the type of signal emitted by the transmitter X2.

[0030] If the urgency of the emergency user U ceases to be an emergency, they may notify the determination unit 302 that the urgency of their movement has ceased by, for example, removing or concealing their clothing X1 so that it does not appear in the images captured by the environmental camera 400, or by cutting off the signal transmission from the transmitter X2.

[0031] The determination unit 302 may calculate the degree of congestion of users and autonomous mobile devices 100 at the boarding area and detect emergency users U at the boarding area based on the estimated destinations of the autonomous mobile devices 100, users, and emergency users U. In this case, the determination unit 302 will detect autonomous mobile devices 100, users, and emergency users U that are actually present at the boarding area, and detect autonomous mobile devices 100, users, and emergency users U that are scheduled to arrive at the boarding area.

[0032] Furthermore, the estimation of the destinations of the autonomous mobile unit 100, the user, and the emergency user U may be performed using a machine learning model. The algorithm of this learning model is not limited; for example, it can be a model that takes images obtained from the environmental camera 400 and location information of the autonomous mobile unit 100, the user, and the emergency user U obtained from the receiver 500 as input and outputs the destinations of the autonomous mobile unit 100, the user, and the emergency user U. Alternatively, the learning model can output whether or not the autonomous mobile unit 100, the user, and the emergency user U will move to the boarding area, and if so, the estimated arrival time. By performing the estimation of the destinations of the autonomous mobile unit 100, the user, and the emergency user U using a learning model, estimations can be made according to past movement history and behavioral patterns.

[0033] The control unit 303 controls the operation of the autonomous mobile unit 100 and the elevator 200. If the congestion level of users and autonomous mobile units 100 at the landing exceeds a predetermined value, and emergency users U are included among the users at the landing, the control unit 303 switches at least one of the elevators 200 operating in mobile unit-only mode to general-purpose mode. This switching control is performed when at least one of the multiple elevators 200 present at a single landing is operating in mobile unit-only mode.

[0034] Here, the control unit 303 may adjust the number of elevators 200 that are switched from mobile-only mode to general-purpose mode, and the number of autonomous mobile units 100 that can ride the elevators 200 that have been switched to general-purpose mode, based on the number of emergency users U and the degree of urgency. Also, if there are multiple types of autonomous mobile units 100, the control unit 303 may select the type of autonomous mobile unit 100 that can ride the elevators 200 that have been switched to general-purpose mode, based on the number of emergency users U and the degree of urgency.

[0035] Furthermore, the control unit 303 may set the number of autonomous mobile units 100 and the number of users other than emergency users U that can board the elevator 200 when it is switched to general-purpose mode to 0. In other words, the control unit 303 may perform control so that only emergency users U can board the elevator 200.

[0036] When the control unit 303 detects that all users, including emergency user U, have disembarked from the elevator 200 which has been switched from mobile-only mode to general-purpose mode, it switches the operating mode of the elevator 200 back to mobile-only mode. The determination of user disembarkation is made by the determination unit 302 based on images obtained from the environmental camera 400 and location information of the transmitter X2 obtained from the receiver 500.

[0037] Returning to the explanation of Figure 1, the environmental camera 400 is an imaging device such as a surveillance camera. The receiver 500 receives signals transmitted by the transmitter X2 and the autonomous mobile unit 100. Multiple environmental cameras 400 and receivers 500 are installed in various locations within the facility, such as corridors, halls, elevators 200, and entrances.

[0038] <Elevator control method> Next, a method for controlling the operation of the elevator 200 using the elevator control system 1 according to Embodiment 1 will be described. Figure 3 is a flowchart of the elevator control method according to Embodiment 1. Note that the order of the steps is not limited to this and may be rearranged as appropriate.

[0039] First, the determination unit 302 determines whether the level of congestion of users and autonomous mobile units 100 at the boarding area exceeds a predetermined value (step S101).

[0040] If the level of congestion of users and autonomous mobile devices 100 at the boarding area exceeds a predetermined value (Step S101: YES), the determination unit 302 determines whether or not there is a user holding an emergency display device X (hereinafter referred to as emergency user U) (Step S102). The determination unit 302 determines that the user is an emergency user U if the user is holding the wearable item X1 or the transmitter X2, or both, which are emergency display devices X.

[0041] If there are emergency users U at the landing (step S102: YES), the control unit 303 switches at least one of the elevators 200 operating in mobile-only mode to general-purpose mode (step S103). The control unit 303 may adjust the number of elevators 200 to be switched from mobile-only mode to general-purpose mode, and the number of autonomous mobile units 100 that can board the elevators 200 that have been switched to general-purpose mode, based on the number of emergency users U and the degree of urgency.

[0042] Next, when all users, including emergency user U, disembark from elevator 200 which has been switched from mobile-only mode to general-purpose mode (step S104: YES), the control unit 303 switches the operating mode of elevator 200 back to mobile-only mode (step S105). Then, the elevator control system 1 returns to the process of step S101.

[0043] Furthermore, if the congestion level of users and autonomous mobile units 100 at the landing does not exceed a predetermined value (step S101: NO), or if there are no users holding an emergency display unit X (step S102: NO), the control unit 303 continues the mobile unit-only mode for the elevator 200 that is operating in mobile unit-only mode (step S106), and the elevator control system 1 returns to the process of step S101.

[0044] As described above, the elevator control system 1 in Embodiment 1 switches the elevator's operating mode not only based on the degree of congestion of users and autonomous mobile units 100 at the landing, but also on the urgency of the users' movement. This allows the elevator control system 1 to prioritize boarding for users with a high urgency of movement without excessively restricting the boarding of autonomous mobile units 100 into the elevator 200 during congestion. Therefore, the elevator control system 1 can suppress a decrease in the boarding efficiency of autonomous mobile units 100 and users during congestion.

[0045] Furthermore, this disclosure can be realized by having a CPU (Central Processing Unit) execute a computer program to perform some or all of the processing of the management device 300.

[0046] The program described above includes, when loaded into a computer, a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments. The program may be stored in a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include RAM (Random-Access Memory), ROM (Read-Only Memory), flash memory, SSD (Solid-State Drive), or other memory technologies, CD-ROM, DVD (Digital Versatile Disc), Blu-ray® disc, or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium that includes electrically, optically, acoustically, or otherwise propagating signals.

[0047] (Embodiment 2) In this second embodiment, when the landing is congested, the elevator control system 1 determines whether to switch at least one of the elevators 200 operating in mobile-only mode to general-purpose mode, based on whether or not there is an emergency user U, and the amount of time the emergency user U has to wait for the elevator 200 to arrive at the landing.

[0048] The configuration of the elevator control system 1 according to this second embodiment is the same as that shown in Figure 1, so its description will be omitted. Below, a method for controlling the operation of the elevator 200 using the elevator control system 1 according to this second embodiment will be described. Figure 4 is a flowchart of the elevator control method according to this second embodiment. The flowchart shown in Figure 4 includes step S107 between steps S102 and S103 of the flowchart shown in Figure 3.

[0049] First, the determination unit 302 determines, similar to the first embodiment, whether the level of congestion of users and autonomous mobile units 100 at the boarding area exceeds a predetermined value (step S101).

[0050] If the level of congestion of users and autonomous mobile devices 100 at the boarding area exceeds a predetermined value (step S101: YES), the determination unit 302 determines whether or not there is a user holding an emergency display unit X (hereinafter referred to as emergency user U), similar to the first embodiment (step S102).

[0051] If there is an emergency user U at the landing (step S102: YES), the determination unit 302 determines whether the waiting time for the emergency user U exceeds a predetermined value (step S107). The waiting time is the time that the emergency user U waits for the general-purpose elevator 200 to arrive at the landing. The waiting time may also be an estimated value based on the result of estimating the destination of the emergency user U, similar to the calculation of congestion level and the detection of the emergency user U. In this case, the determination unit 302 may perform the estimation of the waiting time using a learning model obtained by machine learning.

[0052] If the waiting time for emergency users U exceeds a predetermined value (step S107: YES), the control unit 303 switches at least one of the elevators 200 operating in mobile-only mode to general-purpose mode (step S103). The control unit 303 may adjust the number of elevators 200 to be switched from mobile-only mode to general-purpose mode, and the number of autonomous mobile units 100 that can board the elevators 200 switched to general-purpose mode, based on the number of emergency users U, the degree of urgency, and the waiting time.

[0053] If the waiting time for emergency user U does not exceed a predetermined value (step S107: NO), the control unit 303 continues the mobile-only mode for the elevator 200 that is operating in mobile-only mode (step S106), and the elevator control system 1 returns to the process in step S101.

[0054] As described above, in Embodiment 2, the elevator control system 1, when the landing is crowded, determines whether to switch at least one of the elevators 200 operating in mobile vehicle-only mode to general-purpose mode, based on the presence or absence of an emergency user U and the time the emergency user U will have to wait for the elevator 200 to arrive at the landing. This allows the elevator control system 1 to prioritize boarding for users with a high degree of urgency to travel without excessively restricting the boarding of autonomous mobile vehicles 100 to the elevator 200 during crowded times. Therefore, the elevator control system 1 can more effectively suppress the decline in boarding efficiency for autonomous mobile vehicles 100 and users during crowded times.

[0055] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. [Explanation of Symbols]

[0056] 1. Elevator control system 100 Autonomous Mobile Units 101 Control Computer 110 chassis 111 Wheels 120 stands 130 Operation section 140 Lifting mechanism 200 Elevators 300 Management device 301 Communications Department 302 Judgment section 303 Control Unit 400 Environmental Cameras 500 receivers NW Network U Emergency user X emergency presentation body X1 clothing X2 Transmitter

Claims

1. An elevator control system that controls multiple elevators from a single landing, on which autonomous vehicles and passengers can board, A determination unit that determines whether the user is holding an emergency display that indicates the urgency of movement, The system includes a control unit that, when it is determined that the user is holding the emergency display device, switches at least one of the elevators operating in a mobile-only mode (where only autonomous mobile vehicles can ride) to a general-purpose mode (where the user can ride), Elevator control system.

2. The determination unit determines that the user is holding the emergency display by detecting that the image captured by the imaging means includes the emergency display. The elevator control system according to claim 1.

3. The determination unit determines that the user is holding the emergency display by detecting the reception of a signal transmitted by the emergency display. The elevator control system according to claim 1 or 2.

4. When the control unit switches at least one of the elevators operating in the mobile-only mode to the general-purpose mode, it limits the number of autonomous mobile units that can board the elevator based on the degree of urgency indicated by the emergency display unit. The elevator control system according to claim 3.

5. When the control unit detects that all users have disembarked from an elevator that has been switched from the mobile-only mode to the general-purpose mode, it switches the operating mode of the elevator back to the mobile-only mode. The elevator control system according to claim 1.

Images