A system for coordinating elevators and autonomous mobile devices.

Abstract

This invention provides a system for coordinating an elevator with an autonomous mobile device, enabling the elevator car and the guidance robot to arrive simultaneously at the elevator landing. [Solution] The collaborative system 10 comprises an elevator 20 having a car 21, a guide robot 30, and a collaborative controller 50 that coordinates the car 21 and the guide robot 30. The collaborative controller 50 has a digital map M of the floor 102 which shows the current position of the guide robot 30 and a collaborative range C that indicates the position of the guide robot 30 that can reach the landing 102 before the car 21 arrives at the landing 102. When the guide robot 30 is moving toward the landing 102, if the guide robot 30 enters the collaborative range C on the digital map M, the system calls the car 21 to the landing 102.

Description

Technical Field

[0001] The present invention relates to a cooperation system between an elevator and an autonomous mobile body.

Background Art

[0002] In an office building, a guiding robot may be arranged. The guiding robot is a robot that guides visitors in the office building to their destinations. The guiding robot includes an autonomous driving type robot. The autonomous driving type guiding robot does not need to be controlled by a human, and can recognize the surrounding environment by itself and move to guide visitors to their destinations (for example, Patent Document 1). When guiding a visitor to a destination on another floor, the guiding robot guides the visitor to the elevator landing.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, even if a visitor is guided to the elevator landing by the guiding robot, if the elevator car has not arrived at the elevator landing, the visitor cannot be smoothly guided.

[0005] Therefore, an object of the present invention is to provide a cooperation system between an elevator and an autonomous mobile body that can cooperate the elevator car and the guiding robot so that the arrival of the elevator car and the arrival of the guiding robot are simultaneous at the elevator landing.

Means for Solving the Problems

[0006] The elevator and autonomous mobile unit cooperation system according to the present invention comprises an elevator having a car that moves up and down between landings on floors, an autonomous mobile unit that moves autonomously on floors, and a control device that coordinates the elevator car and the autonomous mobile unit so that the arrival of the elevator car and the autonomous mobile unit at the landing of a floor are simultaneous. The control device has a digital map showing the current position of the autonomous mobile unit and a cooperation range indicating the position of the autonomous mobile unit that it can reach at the landing before the elevator car arrives at the landing. When the autonomous mobile unit is moving toward the landing, if the autonomous mobile unit enters the cooperation range on the digital map, the control device calls the elevator car to the landing.

[0007] According to the above configuration, the autonomous vehicle and the elevator car can be coordinated so that the vehicle guides visitors to the boarding area and the elevator car arrives at the boarding area at the same time. This allows for seamless guidance to visitors without any waiting time.

[0008] In the elevator and autonomous mobile unit cooperation system according to the present invention, when the elevator car is moving toward the landing, if the autonomous mobile unit is located within the cooperation range on the digital map, the control device preferably moves the autonomous mobile unit toward the landing.

[0009] According to the above configuration, the elevator car and the autonomous vehicle can be coordinated so that the autonomous vehicle arrives at the boarding area at the same time as the elevator car. This allows for seamless guidance to visitors without any waiting time.

[0010] In the elevator and autonomous mobile device cooperation system according to the present invention, it is preferable that the size of the cooperation range in the digital map is linked to the distance to the elevator car landing.

[0011] In the elevator-autonomous mobile vehicle cooperation system according to the present invention, it is preferable that the size of the cooperation range in the digital map is set according to the movement speed of the autonomous mobile vehicle.

[0012] In the elevator and autonomous mobile vehicle cooperation system according to the present invention, it is preferable to further include a display device that displays a digital map.

[0013] With the above configuration, users can intuitively confirm the arrival of the elevator car and the arrival of the autonomous mobile device. In addition, administrators can check for operational problems of the linked system in real time. [Effects of the Invention]

[0014] According to the elevator and autonomous mobile unit coordination system of the present invention, the elevator car and the autonomous mobile unit can be coordinated so that the arrival of the elevator car and the autonomous mobile unit occur simultaneously at the elevator landing. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic diagram showing an office building according to an embodiment. [Figure 2] This block diagram shows the configuration of an interoperable system, which is an example of an embodiment. [Figure 3] This is a schematic diagram showing a digital map. [Figure 4] This is another schematic diagram showing a digital map. [Figure 5] This is a flowchart illustrating the flow of coordinated control. [Modes for carrying out the invention]

[0016] An example of an embodiment of the present invention will be described in detail below. In the following description, specific shapes, materials, directions, numerical values, etc., are examples provided to facilitate understanding of the present invention and can be appropriately modified according to the application, purpose, specifications, etc.

[0017] [Integrated Systems] An office building 100 relating to the embodiment will be described using Figure 1.

[0018] The cooperation system 10 (see FIG. 2) of the present embodiment is provided, for example, in an office building 100. However, the cooperation system of the present invention may be provided not only in an office building but also in other buildings provided with elevators 20. The cooperation system of the present invention may be provided, for example, in a hospital, a commercial building, a public building, etc. The office building 100 has a plurality of floors 101A, 101B, ···. The office building 100 also has an elevator 20 that moves up and down between the respective landing areas 102A, 102B, ··· of the plurality of floors 101A, 101B, ···. A plurality of elevators 20 may be provided in the office building 100. Further, a guiding robot 30 as an autonomous mobile body is arranged on each floor 101A, 101B, ··· of the office building 100.

[0019] The guiding robot 30 guides visitors to the destinations on each floor 101 of the office building 100. The destinations include the landing areas 102 of the elevator 20. Details of the guiding robot 30 will be described later. Note that the autonomous mobile body of the present invention may be other than a guiding robot as long as it is an autonomous mobile body that moves autonomously. The autonomous mobile body of the present invention may be other robots. Other robots include security robots, patrol robots, etc.

[0020] The cooperation system 10 is a system that cooperates the elevator 20 and the guiding robot 30. According to the cooperation system 10, although details will be described later, for example, at the landing area 102 of the elevator 20 on the floor 101 of the office building 100, the car 21 of the elevator 20 and the guiding robot 30 that guides visitors to the landing area 102 on the floor 101 can be made to arrive simultaneously.

[0021] Here, the situation where the arrival of the car 21 of the elevator 20 and the arrival of the guiding robot 30 occur simultaneously includes the following two cases. First, for example, in the entrance floor 101A, when the guiding robot 30 arranged on the entrance floor 101A guides a visitor to the boarding area 102A and at the same time the car 21 arrives at the boarding area 102A. Second, for example, on the upper floor 101B, when the car 21 arrives at the boarding area 102 and at the same time the guiding robot 30 arranged on the floor 101B arrives at the boarding area 102B. Thus, for a visitor, seamless guidance without waiting time can be provided by the guiding robot 30 and the elevator 20 on each of the floors 101A and 101B from when the visitor enters the entrance floor 101A of the office building 100 until arriving at the destination on the upper floor 101B using the elevator 20.

[0022] [Elevator] Using FIGS. 1 and 2, an elevator 20 which is an example of an embodiment will be described.

[0023] The elevator 20 is provided in the office building 100. A plurality of elevators 20 may be provided in the office building 100. The elevator 20 moves the car 21 up and down between the respective boarding areas 102A, 102B,... on each of the floors 101A, 101B,... in the hoistway 22. The car 21 carries passengers (including the above-mentioned visitors) and moves up and down in response to the passengers' requests and stops at the respective boarding areas 102A, 102B,... on each of the floors 101A, 101B,...

[0024] The car 21 is suspended on one end side of a wire rope (not shown). On the other end side of the wire rope, a counterweight (not shown) whose weight is set to balance with the car 21 is suspended. The car 21 and the counterweight are moved up and down by an elevator (not shown) that rotates a pulley around which the wire rope is wound by an electric motor. Each device of the elevator 20 such as the elevator is controlled by a control panel 25 (see FIG. 2).

[0025] The control panel 25 includes a processor, such as a CPU, storage devices such as semiconductor memory, and interfaces for external devices. The storage devices store programs executed by the processor or data used by the processor for processing. The control panel 25 may have multiple processors, storage devices, interfaces, etc. The control panel 25 is configured to communicate with the coordinating controller 50 via the network 105.

[0026] [Guidance Robot (Autonomous Mobile Unit)] An example of an embodiment, the guidance robot 30, will be described using Figures 1 and 2.

[0027] The guidance robot 30 guides visitors to their respective destinations on each floor 101 of the office building 100. These destinations include not only the elevator landing 102 but also restrooms, lounges, designated tenants, etc. Multiple guidance robots 30 may be deployed on each floor 101. The guidance robot 30 does not require human control and moves by recognizing its surroundings on its own. The guidance robot 30 may be configured to move only within the floor 101 where it is located. In other words, the guidance robot 30 does not travel to other floors 101 by riding in the elevator car 21 of the elevator 20.

[0028] The guidance robot 30 has an input unit. The input unit may be a touch panel display, a voice input receiving unit, etc. The guidance robot 30 also has a driving unit. The driving unit may have three or four wheels, etc. It is preferable that the driving unit allows the guidance robot 30 to travel at a constant speed.

[0029] The guide robot 30 has a robot controller 35. The robot controller 35 includes a processor, such as a CPU, a storage device such as semiconductor memory, and an interface with an external device. The storage device stores programs executed by the processor or data used by the processor for processing. The robot controller 35 may have multiple processors, storage devices, interfaces, etc. The robot controller 35 is configured to communicate with the coordinating controller 50.

[0030] The robot controller 35 may store a digital map M of the floor 101 where the guidance robot 30 is located, as described later. When a visitor inputs a destination into the input section, the robot controller 35 moves toward the destination based on the digital map M of the floor 101. This allows the guidance robot 30 to guide the visitor to their destination. The guidance robot 30 may be controlled by a cooperative controller that controls multiple guidance robots 30. The cooperative controller may control each guidance robot 30 to prevent collisions between them on the floor 101.

[0031] [Integrated Controller (Control Device)] Using Figures 2 to 4, we will describe an example of an embodiment, a linked controller 50, which serves as a control device.

[0032] The linkage controller 50 coordinates the elevator car 21 of the elevator 20 with the guidance robot 30. According to the linkage controller 50, although the details will be described later, for example, in the entrance floor 101A, the elevator car 21 and the guidance robot 30 can be coordinated so that when the guidance robot 30 located on the entrance floor 101A guides a visitor to the landing 102A, the elevator car 21 arrives at the landing 102A at the same time.

[0033] Furthermore, according to the linked controller 50, although details will be described later, for example, on the upper floor 101B, the elevator car 21 and the guidance robot 30 located on floor 101B can be linked so that when the elevator car 21 arrives at landing 102B, the guidance robot 30 located on floor 101B also arrives at landing 102B at the same time.

[0034] This allows visitors to receive seamless, wait-free guidance from the guidance robots 30 on each floor 101A and 101B, and from entering the office building 100 to reaching their destination on the upper floor 101B using the elevator 20.

[0035] As shown in Figure 2, the interconnection controller 50 is connected to the control panel 25 of the elevator 20 and the robot controller 35 of the guidance robot 30 via a network 105. The interconnection controller 50 is also configured to communicate with the display device 60, which will be described in detail later, via the network 105.

[0036] The interoperability controller 50 includes a processor, such as a CPU, storage devices such as semiconductor memory, and interfaces with external devices. The storage devices store programs executed by the processor or data used by the processor for processing. The interoperability controller 50 may have multiple processors, storage devices, interfaces, etc.

[0037] As shown in Figure 3, the memory device of the linkage controller 50 stores the digital maps M of each floor 101A, 101B, ... The linkage controller 50 can also obtain the current position of at least the guidance robot 30. In the digital map M, the current position of the guidance robot 30 is represented as guidance robot R. The digital map M also shows the linkage possible ranges CA and CB, which will be described in detail later. In the digital map M, floors 101A and 101B are represented as floors FA and FB. In the digital map M, landings 102A and 102B are represented as landings EA and EB.

[0038] As shown again in Figure 2, the coordinating controller 50 includes an elevator guidance receiving unit 51, a car position acquisition unit 52, a coordinating range setting unit 53, a car calling unit 54, a coordinating range setting unit 55, and a robot calling unit 56, each of which will be described in detail later. The elevator guidance receiving unit 51, the car position acquisition unit 52, the coordinating range setting unit 53, the car calling unit 54, the coordinating range setting unit 55, and the robot calling unit 56 are realized by executing a program stored in a memory device.

[0039] The elevator guidance receiving unit 51 receives, for example, from the guidance robot 30's robot controller 35 that the guidance robot 30, located on the entrance floor 101A, has started guiding a passenger to a destination on a different floor 101B. In this case, the guidance robot 30 located on the entrance floor 101A starts guiding the passenger to the elevator 20 landing 102A on the entrance floor 101A. In other words, the guidance robot 30 moves toward the elevator 20 landing 102A on the entrance floor 101A.

[0040] The elevator car position acquisition unit 52 acquires the current position of the elevator car 21 from the control panel 25 of the elevator 20. At this time, the elevator car 21 may be stopped at the landing 102 of any floor 101, or it may be moving up or down between any floor 101.

[0041] As shown in Figures 2 and 3, the linkable range setting unit 53 sets the linkable range CA in the digital map M. The linkable range CA is a range representing the position of the guide robot 30 that can reach landing 102A before the elevator car 21 arrives at landing 102A on the floor FA.

[0042] In the digital map M, the possible collaboration area CA is represented as a roughly circular shape centered on the landing EA. Furthermore, the size (diameter) of the possible collaboration area CA is linked to the position of the elevator car relative to the landing EA. In addition, the size (diameter) of the possible collaboration area CA is set according to the movement speed of the guidance robot R.

[0043] As shown in Figure 4, in the digital map M, the possible collaboration range CA is represented only in the area on the actual floor 100A where the guide robot 30 can move. In other words, the possible collaboration range CA is not represented in areas where the guide robot 30 does not move, such as walls or elevator shafts.

[0044] As shown again in Figures 2 and 3, the elevator car calling unit 54, when the guidance robot R heading towards landing 102A enters the coordinated range CA on the digital map M, calls the elevator car 21 to landing 102A via the control panel 25. Even if the guidance robot 30 heading towards landing 102A is already located within the coordinated range CA, the elevator car 21 is still called to landing 102A via the control panel 25. This allows the elevator car 21 and the guidance robot 30 to coordinate so that the elevator car 21 arrives at landing 102 at the same time that the guidance robot 30 guides the visitor to landing 102.

[0045] The cooperable range setting unit 55 sets the cooperable range CB in the digital map M. The cooperable range CB is a range representing the position of the guidance robot R that can reach the landing FB on the floor FB before the elevator car arrives at the landing FB.

[0046] The cooperable range CB is represented as a roughly circular shape centered on the landing EB on the floor FB. The size (diameter) of the cooperable range CB is linked to the position of the elevator car relative to the landing EB on the floor FB. Furthermore, the size (diameter) of the cooperable range CB is set according to the movement speed of the guide robot R. Note that the cooperable range CB is also represented only in the area where the guide robot 30 can move on the actual floor 101B. In other words, the cooperable range CA is not represented in areas where the guide robot 30 does not move, such as walls or elevator shafts.

[0047] The robot calling unit 56 selects one of the guide robots R located within the possible cooperation range CB on the digital map M, communicates with the robot controller 35 of the selected guide robot 30, and moves the selected guide robot 30 toward the landing 102B. If there are no guide robots R within the possible cooperation range CB on the digital map M, the unit selects the guide robot R located closest to the possible cooperation range CB, communicates with the robot controller 35 of the selected guide robot 30, and moves the selected guide robot 30 toward the landing 102B.

[0048] [Display device] Again, using Figure 2, we will describe a display device 60, which is an example of an embodiment.

[0049] The display device 60 displays the aforementioned digital map M on a display or the like. The digital map M displays the aforementioned guidance robot R and the aforementioned possible cooperation ranges CA and CB. The display device 60 may be installed in a control room or the like so that the manager of the office building 100 can check it. Alternatively, the display device 60 may be installed on floor 101 so that visitors to the office building 100 can check it. With the display device 60, visitors can intuitively confirm the arrival of the elevator car 21 of the elevator 20 and the arrival of the guidance robot 30. In addition, the manager can check any problems in the operation of the cooperation system 10 in real time.

[0050] [Cooperative control] Using Figure 5, we will explain the flow of a coordinated control system, which is an example of an embodiment.

[0051] The following describes the flow of coordinated control by the coordinated controller 50, assuming that it is executed by each block of the coordinated controller 50. In step S101, the elevator guidance receiving unit 51 checks whether the guidance robot 30 has started guiding passengers to the elevator landing 102. If the answer in step S101 is YES, the unit proceeds to step S102.

[0052] In step S102, the current position of the elevator car 21 is obtained from the elevator 20. In step S103, the linkable range setting unit 53 displays the linkable range CA described above on the digital map M. In step 104, the elevator car calling unit 54 checks on the digital map M whether the guidance robot R heading towards landing EA has entered the linkable range CA. If the answer in step S104 is YES, the process proceeds to step S105. In step S105, the elevator car calling unit 54 calls the elevator car 21 to landing 102A via the control panel 25.

[0053] In step S106, the cooperable range setting unit 55 displays the aforementioned cooperable range CB on the digital map M. In step S107, the robot calling unit 57 checks on the floor FB whether there is a guidance robot R in the cooperable range CB. If the answer in step S107 is YES, proceed to step S108. If the answer in step S106 is NO, proceed to step S109.

[0054] In step S108, the robot calling unit 56 communicates with the robot controller 35 of the selected guide robot 30 and moves the selected guide robot 30 toward the landing 102B. In step S109, the robot calling unit 56 selects the guide robot R that is closest to the coordinateable range CB, communicates with the robot controller 35 of the selected guide robot 30, and moves the selected guide robot 30 toward the landing 102B.

[0055] [summary] The present invention is further described by the following embodiments. Configuration 1: A system for coordinating elevators and autonomous mobile devices, An elevator having a car that moves up and down between floor landings, An autonomous mobile unit that moves autonomously on the aforementioned floor, A control device that coordinates the elevator car and the autonomous mobile unit at the landing on the aforementioned floor so that the arrival of the elevator car and the arrival of the autonomous mobile unit occur simultaneously, Equipped with, The control device is The floor has a digital map that shows the current position of the autonomous mobile unit and a range of possible coordinates indicating the position of the autonomous mobile unit that it can reach at the boarding area before the elevator car arrives at the boarding area. When the autonomous mobile unit moves toward the boarding area, if the autonomous mobile unit enters the range of possible cooperation on the digital map, the elevator car is summoned to the boarding area. A system that integrates elevators with autonomous mobile devices. Configuration 2: When the elevator car is moving toward the boarding area, if the autonomous mobile body is located within the range of possible cooperation on the digital map, the control device moves the autonomous mobile body toward the boarding area. A system that integrates elevators with autonomous mobile devices. The system for coordinating an elevator and an autonomous mobile device as described in Configuration 1, Configuration 3: In the aforementioned digital map, the size of the range of possible connectivity is linked to the distance of the elevator car to the boarding area. A system that integrates elevators with autonomous mobile devices. Configuration 4: The system for coordinating an elevator and an autonomous mobile device as described in Configuration 3, In the aforementioned digital map, the size of the possible range for cooperation is set according to the movement speed of the autonomous mobile unit. A system that integrates elevators with autonomous mobile devices. Configuration 5: A system for coordinating an elevator and an autonomous mobile device as described in any of configurations 1 to 4, The device further includes a display device that displays the aforementioned digital map. A system that integrates elevators with autonomous mobile devices.

[0056] It should be noted that the present invention is not limited to the embodiments and their modifications described above, and various changes and improvements are possible within the scope of the claims of this application. [Explanation of symbols]

[0057] 10 Interconnection system, 20 Elevator, 22 Hoistway, 25 Control panel, 30 Guidance robot, 35 Robot controller, 50 Interconnection controller, 51 Elevator guidance receiver, 52 Car position confirmation unit, 53 Interconnection range setting unit, 54 Car call unit, 55 Interconnection range setting unit, 56 Robot call unit, 60 Display device, 100 Office building, 101, 101A, 101B floors, 102, 102A, 103B landings, 105 Network

Claims

1. A system for coordinating elevators and autonomous mobile devices, An elevator having a car that moves up and down between floor landings, An autonomous mobile unit that moves autonomously on the aforementioned floor, A control device that coordinates the elevator car and the autonomous mobile unit at the landing on the aforementioned floor so that the arrival of the elevator car and the arrival of the autonomous mobile unit occur simultaneously, Equipped with, The control device is The system includes a digital map showing the current position of the autonomous mobile unit and a range of possible coordinates indicating the position of the autonomous mobile unit that it can reach at the boarding area before the elevator car arrives at the boarding area. When the autonomous mobile unit moves toward the boarding area, if the autonomous mobile unit enters the range of possible cooperation on the digital map, the elevator car is summoned to the boarding area. A system that integrates elevators with autonomous mobile devices.

2. A system for coordinating an elevator and an autonomous mobile device as described in claim 1, When the elevator car is moving toward the boarding area, if the autonomous mobile body is located within the range of possible cooperation on the digital map, the control device moves the autonomous mobile body toward the boarding area. A system that integrates elevators with autonomous mobile devices.

3. A system for coordinating an elevator and an autonomous mobile device as described in claim 2, In the aforementioned digital map, the size of the range of possible connectivity is linked to the distance of the elevator car to the boarding area. A system that integrates elevators with autonomous mobile devices.

4. A system for coordinating an elevator and an autonomous mobile device as described in claim 3, In the aforementioned digital map, the size of the possible range for cooperation is set according to the movement speed of the autonomous mobile unit. A system that integrates elevators with autonomous mobile devices.

5. A system for coordinating an elevator and an autonomous mobile device according to any one of claims 1 to 4, The device further includes a display device that displays the aforementioned digital map. A system that integrates elevators with autonomous mobile devices.

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