Robot management device and control system

Abstract

This technology provides a way to close the gap between the elevator car sill and the landing sill to allow robot passage, while reducing the decrease in operational efficiency and the increase in equipment costs. [Solution] Robot 40a has wheels that cannot move across a gap when the gap is a distance D1, but can move across a gap when the gap is a distance D2. Robot 40b has wheels that can move across a gap even when the gap is a distance D1. When the processor 11 receives a request from robot 40a, it generates a boarding command for robot 40a to assign basket 81a as the basket. When the processor 11 receives a request from robot 40b, it generates a boarding command for robot 40b to assign either basket 81a or basket 81b as the basket.

Description

Technical Field

[0001] The present disclosure relates to a robot management device and a control system for managing a plurality of robots that use a plurality of elevators installed in a building.

Background Art

[0002] There is a building configured such that a robot capable of autonomous running can use an elevator. On the other hand, since there is a gap between the car-side sill and the landing-side sill of the elevator, depending on the type of robot, there are cases where it cannot move between the car and the landing due to troubles such as the wheels of the robot getting stuck in this gap.

[0003] As a means for preventing such troubles, Japanese Utility Model Laid-Open No. 5-32374 (Patent Document 1) discloses an elevator device configured to slide a flat plate (gap member) to close the gap between the car-side sill and the landing-side sill.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in a building where a plurality of elevators are installed, when variable devices for moving the above-described gap members are installed in all elevators, the installation cost of the variable devices is high. Further, after the car stops, it is necessary to move the gap member and return the moved gap member to its original position before the car starts, so the operation efficiency for that time is reduced.

[0006] This disclosure was made to solve the above-mentioned problems, and its purpose is to provide a technology that can close the gap between the elevator car-side sill and the landing-side sill for the passage of a robot, while reducing the decrease in operational efficiency and the increase in equipment costs. [Means for solving the problem]

[0007] The robot management device described herein manages multiple robots that use multiple elevators installed in a building. The robot management device comprises a control device and a communication device. When the control device receives a request for use from any of the multiple robots, it generates a boarding command assigning a car located in one of the multiple elevators as the assigned car. The communication device transmits a boarding command to the requesting robot, instructing it to board the assigned car. Multiple cars are provided in each of the multiple elevators. Multiple cars include a first car and a second car. The first car is provided with a variable device having a gap member. The second car is not provided with a variable device. The gap between the car-side sill and the landing-side sill is a first distance between the first car or the second car and the landing. The variable device is configured to perform variable control by moving the gap member to change the gap to a second distance shorter than the first distance. Each of the multiple robots is configured to be able to autonomously travel by driving its wheels. Multiple robots include a first robot and a second robot. The first robot has wheels that cannot move across a gap if the gap is a first distance, but can move across a gap if the gap is a second distance. The second robot has wheels that can move across a gap even if the gap is a first distance. When the control device receives a request from the first robot, it generates a boarding command for the first robot assigning the first basket as its basket. When the control device receives a request from the second robot, it generates a boarding command for the second robot assigning either the first basket or the second basket as its basket.

[0008] The control system relating to this disclosure comprises a robot management device, a plurality of robots, and an elevator control device. When the elevator control device receives a request from a second robot, it determines which elevator car to assign according to the current operating status of the plurality of elevator cars.

[0009] The control system described herein comprises a robot management device, a plurality of robots, and an elevator control device. The elevator control device determines the assigned elevator car so that priority robots are assigned to less crowded cars than normal robots. [Effects of the Invention]

[0010] According to this disclosure, it is possible to close the gap between the elevator car-side sill and the landing-side sill for robot passage while reducing the decrease in operational efficiency and the increase in equipment costs. [Brief explanation of the drawing]

[0011] [Figure 1] This is a diagram showing the configuration of the control system according to the first embodiment. [Figure 2] This is a diagram showing the hardware configuration of the control system. [Figure 3] This is a diagram illustrating an example of elevator operation. [Figure 4] This diagram illustrates the gap between the elevator car sill and the landing sill. [Figure 5] These are various tables used to explain the relationship between the cage and the robot. [Figure 6] This is a flowchart of the processes performed by the control system. [Figure 7] This is a flowchart of the basket allocation process. [Figure 8] This is a flowchart of the review process. [Figure 9] This figure shows an example of elevator operation according to the second embodiment. [Figure 10] This diagram illustrates the gap between the elevator car sill and the landing sill. [Figure 11]These are various tables for explaining the relationship between the cage and the robot. [Figure 12] This is a flowchart of the processing executed by the control system. [Figure 13] This is a flowchart of the assigned cage determination process.

Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0013] [First Embodiment] FIG. 1 is a diagram showing the configuration of a control system 1 according to the first embodiment. As shown in FIG. 1, the control system 1 is installed in a building 2. In the present embodiment, the building 2 is an office building. The building 2 may be a commercial building, a hospital, a factory, or the like.

[0014] The control system 1 includes a robot management device 100, a plurality of robots 40, and an elevator control device 90. The robot management device 100 manages a plurality of robots 40 that use a plurality of elevators installed in the building 2.

[0015] Each of the plurality of robots 40 is configured to be able to autonomously travel within the building 2 by driving wheels. The plurality of robots 40 include a robot 40a and a robot 40b. The robot 40a includes a robot 40aa and a robot 40ab. The robot 40b includes a robot 40ba and a robot 40bb.

[0016] Robot 40aa is a cleaning robot that cleans inside Building 2. Robot 40ab is a guiding robot that guides people inside Building 2. Robot 40ba is a patrolling robot that patrols inside Building 2 to perform security and other tasks. Robot 40bb is a guiding robot. In addition, Robot 40 may be a food delivery robot that transports food, a carrying robot that transports luggage, or any robot that can autonomously move inside Building 2.

[0017] A plurality of wireless communication devices 72 are installed on the ceiling 61 of each living room, corridor, etc. inside Building 2. These wireless communication devices 72 communicate with the wireless communication device 42 provided in Robot 40, and can identify the current position of Robot 40.

[0018] Figure 2 is a diagram showing the hardware configuration of the control system 1. As shown in Figure 2, the robot management device 100 includes a processor 11, a memory 12, a storage device 14, and a communication IF (Interface) 15. These exchange various data through the communication path 16.

[0019] The processor 11 is, for example, a CPU (Central Processing Unit). The memory 12 includes a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage device 14 is, for example, an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The processor 11 expands and executes the program stored in the storage device 14 or the ROM in the RAM. This program describes the processing executed by the robot management device 100.

[0020] The communication IF15 is configured to communicate with multiple wireless communication devices 42, multiple robots 40, and elevator control devices 90, and is an input / output device for exchanging data with them. The storage device 14 is a storage device that stores various types of information. The storage device 14 stores information about the robots 40, layout information of the building 2, elevator information, etc.

[0021] The robot management device 100 is capable of outputting commands to the robot 40 and acquiring various information such as the robot 40's position information and information from the elevator control device 90.

[0022] The robot 40 includes a control unit 41, a wireless communication device 42, a camera 43, a storage device 44, a communication interface 45, a battery 48, and a drive unit 49. These components exchange various types of data through a communication path 46.

[0023] The control unit 41 controls the entire robot 40. Although not shown in the diagram, the control unit 41 mainly consists of a CPU, ROM, and RAM. The CPU loads the program stored in ROM into RAM and executes it. The program stored in ROM describes the processes to be performed by the robot 40. Note that the processes are not limited to software; they can also be executed by dedicated hardware (electronic circuits).

[0024] The wireless communication device 42 outputs a signal to detect the position of the robot 40 using a communication method that conforms to the BLE (Bluetooth Low Energy, "Bluetooth" is a registered trademark) communication standard, for example. Instead of the BLE communication standard, a communication method that conforms to the UWB (Ultra Wide Band) communication standard may be used. The wireless communication device 42 also transmits a signal indicating an ID for identifying the robot 40 to the robot management device 100 using a communication method that conforms to a wireless communication standard such as LTE (Long Term Evolution), for example.

[0025] Camera 43 captures images of the area around the robot 40 and outputs the captured images to the control unit 41. Instead of camera 43, a laser rangefinder or the like may be provided to measure the distance between the robot 40 and objects in its vicinity.

[0026] The drive unit 49 generates the driving force for the robot 40 to move. The drive unit 49 includes, for example, wheels for the robot 40 to move and motors for driving the wheels. The drive unit 49 can be operated by receiving power from the battery 48.

[0027] The control unit 41 controls the drive unit 49 so that the robot 40 moves autonomously based on the images captured by the camera 43. The battery 48 supplies power for the drive unit 49 and other components of the robot 40 to operate. The storage device 44 temporarily stores various information used by the robot 40.

[0028] Multiple wireless communication devices 72 are installed on the ceiling 61 at appropriate distances from each other and use a communication method that conforms to the same communication standard as the wireless communication device 42 of the robot 40 to receive signals transmitted from the robot 40 and detect the received signal strength. The position of the robot 40 within the building 2 can be detected from the received signal strength at each wireless communication device 72. The wireless communication devices 72 output the received signal strength received from the robot 40 to the robot management device 100. The wireless communication devices 72 may also be installed on the walls.

[0029] The elevator control device 90, like the robot management device 100, is configured to include a processor 91, memory 92, storage device 94, and communication IF 95. The elevator control device 90 is installed in building 2. The elevator control device 90 is a device that controls multiple elevators installed in building 2. In this embodiment, two elevators (Elevator A and Elevator B) are provided as the multiple elevators.

[0030] The elevator control device 90 is connected to the elevator landing device 210, the Unit A device 220 installed in Unit A, and the Unit B device 230 installed in Unit B. The landing device 210 includes a camera 73 installed at the landing and a landing control panel (not shown). The Unit A device 220 includes a camera 73 installed inside the car of Unit A, a variable device 84, a car control panel (not shown), and a hoisting machine (not shown) that drives the car. The variable device 84 includes a gap member 85. The Unit B device 230 includes a camera 73 installed inside the car of Unit B, a car control panel (not shown), and a hoisting machine (not shown) that drives the car. These devices will be described later.

[0031] Figure 3 shows an example of elevator operation. Each of the multiple elevators (Elevator A, Elevator B) is equipped with multiple cars 81. The multiple cars 81 include cars 81a and cars 81b. In this embodiment, elevator A is equipped with car 81a, and elevator B is equipped with car 81b. Building 2 is a six-story building.

[0032] Each floor's landing 86 is equipped with a landing control panel. When the landing call button on the landing control panel is pressed, or when a request for use is received from the robot management device 100 (robot 40), the elevator control device 90 determines either car 81a or car 81b as the assigned car. The determined assigned car travels to the floor where the landing call button was pressed and then opens its doors. This allows the person 5 or robot 40 to board the assigned car.

[0033] The elevator car 81 (car 81a, car 81b) travels within the elevator shaft 3. The elevator car 81 can stop at floors 1 through 6 and can transport people 5 and robots 40. The elevator car 81 is equipped with a car control panel. When a destination floor button (car call button) on the car control panel is pressed, the elevator car 81 travels to the floor corresponding to the destination floor button.

[0034] Robot 40 requests the use of elevator car 81 from robot management device 100, specifying the boarding and alighting floors (hereinafter, this request will be referred to as the "use request"). Upon receiving the use request, robot management device 100 transmits the use request to elevator control device 90. Elevator control device 90 registers a landing call at the specified boarding floor and determines the elevator car to be assigned to robot 40, who made the use request. After the assigned elevator car travels to the specified boarding floor, the elevator control device 90 opens the doors and automatically registers a call for the elevator car to the specified alighting floor. Robot management device 100 receives the information on the assigned elevator car from elevator control device 90 and transmits a boarding command to robot 40, who made the use request, instructing it to board the assigned elevator car. Accordingly, robot 40 boards the assigned elevator car at the specified boarding floor and alights at the specified alighting floor.

[0035] In this example, elevator car 81a is stopped on the 6th floor, and there is a person 5 inside. At the landing 86 on the 6th floor, robot 40ba (patrolling robot) is about to board elevator car 81a. Elevator car 81b is stopped on the 2nd floor, and there is a robot 40aa (cleaning robot) inside. At the landing 86 on the 2nd floor, robot 40bb (guidance robot) that is leading person 5 is about to board elevator car 81b. Furthermore, at the landing 86 on the 1st floor, robot 40ba (patrolling robot) is waiting to board.

[0036] The robot management device 100 is configured to acquire the congestion levels of multiple elevator cars 81 (car 81a, car 81b) and the landings 86 on each floor from the elevator control device 90.

[0037] Specifically, cameras 73 installed at the landing 86 on each floor photograph the landing 86. The elevator control device 90 acquires the images of the landing 86 from the cameras 73 and analyzes them using known technology to calculate the number of people 5 and robots 40 waiting at the landing 86. Based on these numbers, the elevator control device 90 determines the degree of congestion at the landing (for example, if the number of people and robots exceeds a predetermined limit, it determines the congestion level to be "high").

[0038] Cameras 73 installed inside each elevator car 81 photograph the interior of the car 81. The elevator control device 90 acquires images of the car 81 from the cameras 73 and analyzes these images using known technology to calculate the number of people 5 and robots 40 riding in the car 81 (for example, if the number of people or robots exceeds a specified limit, or if the occupancy rate relative to the car 81's capacity exceeds a specified value, the device may determine that the car is "highly crowded").

[0039] The degree of congestion inside the cage 81 may also be calculated using a weighing device installed in the cage 81. For example, the weight inside the cage 81 may be measured using the weighing device, and the degree of congestion may be calculated based on that weight (for example, if the load exceeds a predetermined percentage of the maximum load capacity, the degree of congestion may be judged as "high"). Alternatively, the degree of congestion may be calculated using both the image captured by the camera 73 and the measurement results from the weighing device. For example, in order to improve the accuracy of the congestion calculation, the average value of the congestion calculated based on both may be taken.

[0040] Figure 4 is a diagram illustrating the gap between the car-side sill 83 and the landing-side sill 88. As shown in Figure 4(a), there is a gap between the car-side sill 83, which is provided on the car floor 82 of the car 81, and the landing-side sill 88, which is provided on the landing floor 87 of the landing 86.

[0041] As shown in Figure 4(b), the gap between the car-side sill 83 and the landing-side sill 88 is a distance D1 (for example, 30 mm) between the car 81a or car 81b and the landing 86. The robot 40a has wheels that cannot move beyond the gap when the gap is a distance D1 (otherwise problems such as getting stuck in the gap may occur).

[0042] The cage 81a is provided with a variable device 84 having a gap member 85. The variable device 84 is configured to perform variable control by moving the gap member 85 to change the gap to a distance D2 (for example, 1 mm) shorter than the distance D1. In addition, the variable device 84 can move the gap member 85 during variable control to return the gap to its original position (return the gap from distance D2 to distance D1).

[0043] The variable device 84 may be configured to store the car-side sill 83 within the gap member 85 when variable control is not being performed. The variable device 84 can be configured in any way as long as it can be configured to change the gap to a distance D2 shorter than the distance D1 when variable control is being performed.

[0044] As shown in Figure 4(c), when variable control is performed, the gap member 85 moves, expanding the cage-side sill 83, and the gap becomes a distance D2. The robot 40a has wheels that can move across the gap when the gap is a distance D2.

[0045] On the other hand, the cage 81b is not equipped with the variable device 84. As shown in Figure 4(d), the robot 40b has wheels that can move across gaps even if the gap is a distance D1.

[0046] Figure 5 shows various tables illustrating the relationship between the cage 81 and the robot 40. These tables are stored in the memory device 14. As described above, as shown in Figure 5(a), cage 81a (also referred to as "cage A") is equipped with a variable device 84. Cage 81b (also referred to as "cage B") is not equipped with a variable device 84. In cage A, when variable control is performed, the gap changes from distance D1 to distance D2 (distance D1 > distance D2). On the other hand, in cage B, since variable control is not performed, the gap is always distance D1.

[0047] As described above, as shown in Figure 5(b), when variable control is performed in car A, robot 40a (also referred to as "robot A") can board and alight from car A. However, when variable control is not performed in car A, robot A cannot board and alight from car A. Robot A cannot board and alight from car B. Robot 40b (also referred to as "robot B") can board and alight from car A regardless of whether variable control is performed or not. Robot B can board and alight from car B.

[0048] Figure 5(c) is a table defining the priority of robots. Robot 40a (Robot A) includes robot 40aa (also referred to as "Robot AA") and robot 40ab (also referred to as "Robot AB"). Robot 40b (Robot B) includes robot 40ba (also referred to as "Robot BA") and robot 40bb (also referred to as "Robot BB"). Robots AA and BA are also referred to as "normal robots," and robots AB and BB are also referred to as "priority robots."

[0049] Priority robots are robots with a higher priority than regular robots. Higher priority means they have priority access to car 81 (for example, they can ride in a less crowded car 81). Regular robots are set to "medium" priority. Priority robots are set to "high" priority, which is higher than "medium". Regular robots include cleaning robots, transport robots, security robots, and serving robots. Priority robots include guidance robots.

[0050] For example, a guidance robot is set as a priority robot to allow customers visiting the office to use the elevator car 81 preferentially. Priority robots have advantages such as being allowed to board an uncrowded elevator car 81 or being able to board an elevator car 81 before regular robots. In contrast, cleaning robots and transport robots are set as lower priority robots because they can board a crowded elevator car 81 and can board after waiting for a certain period of time.

[0051] The following explanation will use a flowchart. Figure 6 is a flowchart of the process executed by control system 1. Hereafter, "step" will also be simply referred to as "S".

[0052] The processes performed by the control system 1, etc., include robot management device-side processes performed by the robot management device 100, robot-side processes performed by the robot 40, and elevator control device-side processes performed by the elevator control device 90. These processes may be configured to be started periodically.

[0053] The robot management device 100 is configured to generate a boarding command assigning a car 81 located in one of the elevators to any of the multiple elevators when it receives a request for use (usage request) from any of the multiple robots 40. The assigned car is determined by the elevator control device 90. The robot management device 100 sends a boarding command to the robot 40 (robot A or robot B) that made the usage request, instructing it to board the assigned car.

[0054] The following will be explained according to the flowchart. In the robot-side processing, in S101, if the robot 40 uses the elevator, it sends a usage request to the robot management device 100 specifying the boarding floor and alighting floor.

[0055] In the robot management device processing, the robot management device 100 receives the usage request transmitted by the robot 40 in S201 and acquires the robot information stored in the storage device 14. The robot information is, for example, information such as the priority and type of the robot 40 as shown in Figure 5(c).

[0056] Here, when the robot management device 100 receives a request for use from a normal robot, it generates a delay command that instructs the normal robot to delay the time of its request for use, depending on the level of congestion. The robot management device 100 then transmits the delay command to the robot that made the request for use.

[0057] Specifically, in S202, the robot management device 100 determines whether robot 40 is a normal robot and whether the congestion level of the landings and each car, as maintained by the elevator control device 90, is above a specified level. For example, if the total number of people 5 and robots 40 in all landings and all cars is above a predetermined number, the congestion level may be determined to be above a specified level (for example, congestion level "high"). Alternatively, the congestion level may be determined to be "high" during predetermined time periods such as commuting hours, lunchtime, and commuting hours. Furthermore, if robot 40 is robot A, since it can only ride in car A, the congestion level of car A may be used as the criterion for determination.

[0058] In S203, the robot management device 100 generates a delay command that instructs the normal robot to delay the time of the request to use the normal robot, transmits the generated delay command to the normal robot that made the request, and then terminates the robot management device's processing.

[0059] For example, if it is determined that the congestion level is "high," a delay instruction is sent to the transport robot or other regular robot that made the request for use, instructing it to make the request again in 5 minutes. Alternatively, if it is currently the morning commute time, a delay instruction may be sent instructing the robot to make the request again at the end of the morning commute time.

[0060] If robot 40 receives a delay command from robot management device 100 (YES in S102), it resets the usage request time (S103) and terminates the robot-side processing. In the above example, robot 40 reschedules to send the usage request again, for example, 5 minutes later or after the end of the workday. If robot 40 does not receive a delay command from robot management device 100 (NO in S102), it proceeds to processing in S104.

[0061] In this embodiment, elevator A may receive a large number of requests from robot A. For this reason, it may be configured not to accept requests from robot A, which is a normal robot, at the same time. For example, after accepting a request from robot A, which is a normal robot, it may be configured not to accept any further requests from robot A, which is a normal robot, until a predetermined time has elapsed (for example, 3 minutes later).

[0062] Meanwhile, in S204, the robot management device 100 sends a usage request to the elevator control device 90 with robot information added. In the elevator control device processing, in S301, the elevator control device 90 receives the usage request from the robot management device 100.

[0063] In S302, the elevator control device 90 executes an allocation car determination process to determine the allocated car based on the usage request. The allocation car determination process will be described later with reference to Figure 7. In S303, the elevator control device 90 transmits the allocation car information, including the allocated car determined by the allocation car determination process, to the robot management device 100.

[0064] In S304, the elevator control device 90 transmits a control command to the determined assigned elevator car to travel to the boarding floor specified in the usage request.

[0065] In S205, the robot management device 100 acquires assigned car information from the elevator control device 90.

[0066] In S206, when the robot management device 100 sends a command to robot A to board car A, it sends a control command to the elevator control device 90 to cause the variable device 84 of car A to perform variable control when robot A boards or alights. On the other hand, when the robot management device 100 sends a command to robot B to assign car A as the car, it does not send a control command to the elevator control device 90 to cause the variable device 84 of car A to perform variable control when robot B boards or alights.

[0067] In S305, when the elevator control device 90 receives a control command from the robot management device 100, it transmits the control command to car A and terminates the elevator control device side processing. As a result, car A performs variable control when robot A boards or alights.

[0068] Meanwhile, in S207, the robot management device 100 generates a boarding command to board the assigned cart, transmits the boarding command to the robot 40 that made the request, and terminates the processing on the robot management device side.

[0069] When robot 40 receives a boarding command from the robot management device 100 (S104), it boards and alights based on the boarding command (S105) and terminates the robot-side processing. For example, if robot A requests to use the elevator from the 1st floor to the 5th floor, and elevator car A is determined to be the assigned elevator car, elevator car A travels to the 1st floor. After changing the gap to D2 using variable control, elevator car A opens its doors and automatically registers a call for elevator car to the 5th floor. After robot A boards, elevator car A closes its doors and then changes the gap to D1 using variable control before traveling to the 5th floor. Robot A alights on the 5th floor. Elevator car A also performs variable control on the 5th floor.

[0070] Figure 7 is a flowchart of the elevator car assignment process. When the robot management device 100 receives a request for use from robot A, it generates a boarding command for robot A assigning elevator car A as the assigned car. On the other hand, when the robot management device 100 receives a request for use from robot B, it generates a boarding command for robot B assigning either elevator car A or elevator car B as the assigned car. The elevator car assignment is determined by the elevator control device 90.

[0071] Specifically, in the car allocation determination process, if the elevator control device 90 receives a request for use from robot A (YES in S401), it determines car A as the allocated car (S402) and terminates the car allocation determination process. If the elevator control device 90 does not receive a request for use from robot A (NO in S401), it proceeds to S403.

[0072] If the elevator control device 90 does not receive a request from robot B (NO in S403), it terminates the elevator car allocation determination process. If the elevator control device 90 receives a request from robot B (YES in S403), it proceeds to process S404.

[0073] When the elevator control device 90 receives a request for use from robot B, it determines which elevator car to assign based on the current operating status of the multiple elevator cars 81 (cars A and B). Specifically, if car B is not in operation (YES in S404), the elevator control device 90 determines car B to be the assigned car (S405) and terminates the car assignment determination process. Here, "car B is not in operation" means that car B is stopped and is not scheduled to respond to landing calls or car calls.

[0074] In this embodiment, when a request for use is received from robot A, cage A is always selected as the assigned cage. Therefore, cage A may become congested due to robot A's use. On the other hand, robot B can use either cage A or B. Therefore, if cage B is not in operation, the system is configured to assign robot B to cage B whenever possible.

[0075] Furthermore, the elevator control device 90 determines the assigned elevator car so that the priority robot is assigned to an elevator car 81 (car A, B) that is less crowded than the normal robot. Specifically, if car B is in operation (NO in S404), the elevator control device 90 determines the assigned elevator car so that the priority robot is assigned to an elevator car that is less crowded than the normal robot (S406), and then terminates the elevator car assignment determination process.

[0076] For example, priority robots may be configured to be assigned preferentially to carriages with low occupancy rates, while regular robots may be configured to be assigned preferentially to carriages with high occupancy rates. Alternatively, priority robots may be configured to exclude carriages that are R% (for example, 60%) or more of their capacity from being assigned as much as possible.

[0077] Figure 8 is a flowchart of the review process. The robot management device 100 periodically reviews the boarding command to the robot 40 according to the congestion status of the boarding area and elevator car. The review process should be performed periodically.

[0078] If the second assigned car, which is assigned to a priority robot among the robots 40b waiting on the same floor as the normal robot, becomes more crowded than the first assigned car, the robot management device 100 will regenerate a boarding command to cancel boarding car A for the normal robot, and regenerate a boarding command to board car A for the priority robot. This will be explained in detail below.

[0079] In the review process, the robot management device 100 acquires the congestion level of the elevator car and landing in S501. The following explanation assumes that elevator car X (either car A or B) is assigned to a normal robot, and elevator car Y (a different elevator car from car X, and either car A or B) is assigned to a priority robot.

[0080] In S502, the robot management device 100 determines whether car Y, which is assigned to a priority robot waiting on the same floor as the normal robot, is more crowded than car X, which is assigned to a normal robot. If the robot management device 100 determines that the result of S502 is YES, it proceeds to S503 (for example, if the occupancy rate of car X is 40% while the occupancy rate of car Y is 75%). If the robot management device 100 determines that the result of S502 is NO, it terminates the review process.

[0081] In S503, the robot management device 100 regenerates a boarding command to the normal robot to cancel boarding into car X, and transmits this boarding command to the normal robot. Upon receiving this boarding command, the normal robot cancels boarding into car X and resets the usage request time after a predetermined period of time (for example, making another usage request after 3 minutes).

[0082] In S504, the robot management device 100 regenerates a boarding command for the priority robot to board car X, transmits the boarding command to this priority robot, and ends the review process. Upon receiving this boarding command, the priority robot that was scheduled to board car Y boards car X.

[0083] As shown in S405, priority robots are configured to be assigned to less crowded carriages than regular robots. However, due to changes in circumstances after assignment, the carriage assigned to a priority robot may become crowded. By reviewing the assigned carriages as described above, priority robots can be placed in carriages that are as uncrowded as possible.

[0084] As described above, the robot management device 100 manages multiple robots 40 that use multiple elevators installed in the building 2. The robot management device 100 includes a processor 11 and a communication IF 15. When the processor 11 receives a request for use from any of the multiple robots 40, it generates a boarding command assigning a car 81 located in one of the multiple elevators as the assigned car. The communication IF 15 transmits a boarding command to the requesting robot 40 to board the assigned car. Multiple cars 81 are provided in each of the multiple elevators. Multiple cars 81 include car 81a and car 81b. Car 81a is provided with a variable device 84 having a gap member 85. Car 81b is not provided with a variable device 84. The gap between the car-side sill 83 and the landing-side sill 88 is a distance D1 between car 81a or car 81b and the landing 86. The variable device 84 is configured to perform variable control by moving the gap member 85 to change the gap to a distance D2 that is shorter than the distance D1. Each of the multiple robots is configured to drive its wheels and be able to move autonomously. The multiple robots 40 include robot 40a and robot 40b. Robot 40a has wheels that cannot move across the gap when the gap is a distance D1, but can move across the gap when the gap is a distance D2. Robot 40b has wheels that can move across the gap even when the gap is a distance D1. When the processor 11 receives a request from robot 40a, it generates a boarding command for robot 40a to assign the basket 81a as the basket. When the processor 11 receives a request from robot 40b, it generates a boarding command for robot 40b to assign either basket 81a or basket 81b as the basket.

[0085] In this way, by having the robot 40a ride in the car 81a, it becomes unnecessary to install the variable device 84 in the car 81b, thus reducing installation costs. In addition, since the variable device 84 is not installed in the car 81b, it is possible to prevent a decrease in operational efficiency caused by moving the gap member 85 when the car stops and returning the gap member to its original position when the car departs. This reduces the decrease in operational efficiency and the increase in equipment costs, while still being able to close the gap between the elevator car-side sill 83 and the landing-side sill 88 for the passage of the robot 40.

[0086] The communication IF15 is configured to communicate with the elevator control device 90, which controls multiple elevators. The assigned elevator car is determined by the elevator control device 90. When the communication IF15 sends a command to robot 40a to board elevator car 81a, it sends a control command to the elevator control device 90 to cause the variable device 84 of elevator car 81a to perform variable control when robot 40a boards or alights. When the communication IF15 sends a command to robot 40b to assign elevator car 81a as the assigned car, it does not send a control command to the elevator control device 90 to cause the variable device 84 of elevator car 81a to perform variable control when robot 40b boards or alights. In this way, variable control is performed only when robot 40a, which requires variable control, boards or alights, thus minimizing the reduction in operational efficiency caused by moving the gap member 85 when the car stops and returning the gap member to its original position when the car departs.

[0087] The communication IF 15 is configured to obtain the congestion levels of multiple cars 81 and landings 86 from the elevator control device 90. Robot 40a includes a normal robot (robot 40aa) and a priority robot (robot 40ab) with a higher priority than the normal robot. Robot 40b includes a normal robot (robot 40ba) and a priority robot (robot 40bb) with a higher priority than the normal robot. When the processor 11 receives a request from a normal robot, it generates a delay command that instructs the requesting robot to delay the time of use, depending on the congestion level. The communication IF 15 sends the delay command to the robot that made the request. In this way, congestion can be alleviated by delaying boarding by the lower-priority normal robot.

[0088] If the second assigned car, which is assigned to a priority robot among the robots 40b waiting on the same floor as the normal robot, is more crowded than the first assigned car, the processor 11 regenerates a boarding command to cancel boarding the car 81a for the normal robot and a boarding command to board the car 81a for the priority robot. In this way, boarding for the lower-priority normal robot can be canceled and the higher-priority priority robot can be given priority boarding.

[0089] The control system 1 comprises a robot management device 100, a plurality of robots 40, and an elevator control device 90. When a request is received from robot 40b, the elevator control device 90 determines which elevator car to assign based on the current operating status of the plurality of elevator cars 81. Since robot 40a can only ride in car 81a, car 81a may become crowded. On the other hand, robot 40b can ride in either car 81a or car 81b, so it can avoid the crowded car 81b and ride in car 81a. In this way, the system can determine which elevator car to assign to robot 40b to avoid congestion by monitoring the current operating status of the plurality of elevator cars 81.

[0090] The elevator control device 90 determines the assigned elevator car so that priority robots are assigned to less crowded cars 81 than normal robots. In this way, it is possible to make it easier for high-priority priority robots to board less crowded cars 81.

[0091] The standard robots include transport robots that carry luggage and cleaning robots that clean the inside of building 2. The priority robots include guide robots that lead people around building 2. In this way, the priority of transport robots or cleaning robots that can delay boarding or board crowded carriages 81 is lowered, while guide robots that lead people around can provide a comfortable environment.

[0092] [Second Embodiment] Figure 9 shows an example of elevator operation in the control system 1 according to the second embodiment. In the second embodiment, the plurality of cars 81 further include cars 81c. The plurality of robots 40 further include robots 40c.

[0093] Specifically, in addition to Units A and B according to the first embodiment, Unit C, which is equipped with a cage 81c, is installed in Building 2. Furthermore, Robot 40 includes Robot 40c (also referred to as "Robot C") with a different wheel size. The differences from the first embodiment will be explained below, and the parts that are the same as the first embodiment will be omitted from the explanation.

[0094] In this example, elevator car 81a is stopped on the 6th floor, and there are 5 people inside. At the landing 86 on the 6th floor, robot 40b is trying to board elevator car 81a. Elevator car 81c is stopped on the 5th floor, and there are 5 people inside. At the landing 86 on the 4th floor, two robots 40c are trying to board elevator car 81c. Elevator car 81b is stopped on the 2nd floor, and robot 40a is inside. At the landing 86 on the 2nd floor, robot 40a is trying to board elevator car 81b. At the landing 86 on the 1st floor, robot 40b is waiting to board.

[0095] Figure 10 is a diagram illustrating the gap between the car-side sill 83 and the landing-side sill 88. As shown in Figure 10(a), there is a gap between the car-side sill 83, which is provided on the car floor 82 of the car 81, and the landing-side sill 88, which is provided on the landing floor 87 of the landing 86. The wheel sizes of the robots 40 increase in the order of robot 40b, robot 40c, and robot 40a, and depending on the wheel size, there are gaps that cannot be overcome.

[0096] As shown in Figure 10(b), the gap between the car-side sill 83 and the landing-side sill 88 is a distance D1 between the car 81a or car 81b and the landing 86. The robot 40c has wheels that cannot move beyond the gap when the gap is a distance D1.

[0097] As shown in Figure 10(c), the gap between the car-side sill 83 and the landing-side sill 88 is a distance D3 (for example, 10 mm or 15 mm) between the car 81c and the landing 86, which is longer than the distance D2 and shorter than the distance D1. The robot 40a cannot move beyond the gap when the gap is distance D3. The car 81c is not equipped with a variable device 84.

[0098] As shown in Figure 10(d), the robot 40c has wheels that can move across a gap when the gap is a distance D3.

[0099] Figure 11 shows various tables illustrating the relationship between the cage 81 and the robot 40. As mentioned above, as shown in Figure 11(a), cage 81a (cage A) is equipped with a variable device 84. Cages 81b (cage B) and 81c (cage C) are not equipped with a variable device 84.

[0100] In cage A, when variable control is applied, the gap changes from distance D1 to distance D2. In cage B, no variable control is applied, and the gap is always distance D1. In cage C, no variable control is applied, and the gap is always distance D3. The gaps have the relationship D1 > D3 > D2.

[0101] As described above, as shown in Figure 11(b), when variable control is performed in car A, robots 40a and 40c (robots A and C) can board and alight from car A, but when variable control is not performed in car A, robots A and C cannot board and alight from car A. Robot 40b (robot B) can board and alight from car A regardless of whether variable control is performed or not. Robot A cannot board and alight from cars B and C. Robot C cannot board and alight from car B, but can board and alight from car C. Robot B can board and alight from cars B and C.

[0102] Figure 12 is a flowchart of the process performed by the control system 1. In the second embodiment, the process performed by the control system 1 is similar to the process performed by the control system 1 in the first embodiment (Figure 6). The differences in the process will be explained below.

[0103] When the robot management device 100 receives a request to use the elevator from robot A, it generates a boarding command for robot A assigning car A as the car. When the robot management device 100 receives a request to use the elevator from robot B, it generates a boarding command for robot B assigning one of cars A to C as the car. When the robot management device 100 receives a request to use the elevator from robot C, it generates a boarding command for robot C assigning either car A or car C as the car. The assigned car is determined by the elevator control device 90.

[0104] When the robot management device 100 transmits a command to robot A to board car A, it transmits a control command to the elevator control device 90 to cause the variable device 84 of car A to perform variable control when robot A boards or alights. When the robot management device 100 transmits a command to robot C to board car A, it transmits a control command to the elevator control device 90 to cause the variable device 84 of car A to perform variable control when robot C boards or alights.

[0105] The process performed by the control system 1 shown in Figure 6 and the process performed by the control system 1 shown in Figure 12 differ in the content of the allocation cage determination process (S302), and also in the addition of the process in S206a.

[0106] After executing S206 in Figure 6, the robot management device 100, in S206a, sends a control command to the elevator control device 90 to cause the variable device 84 of car A to perform variable control when robot C boards or alights, in order to send a command to robot C to board car A. In S305, the elevator control device 90 sends a control command to car A to cause the variable device 84 to perform variable control when robot C boards or alights. After the execution of S206a, S207 is executed as in Figure 6.

[0107] Figure 13 is a flowchart of the elevator car assignment process. In the elevator car assignment process, if the elevator control device 90 receives a request for use from robot A (YES in S601), it proceeds to S602. If the elevator control device 90 does not receive a request for use from robot A (NO in S601), it proceeds to S603. In S602, the elevator control device 90 determines car A as the assigned car and terminates the elevator car assignment process.

[0108] If the elevator control device 90 receives a request to use the elevator from robot B (YES in S603), it proceeds to S604. If the elevator control device 90 does not receive a request to use the elevator from robot B (but receives a request from robot C) (NO in S603), it proceeds to S605. In S604, the elevator control device 90 determines that elevator cars A to C are candidate cars for allocation. In S605, the elevator control device 90 determines that elevator cars A and C are candidate cars for allocation.

[0109] If there are any inactive candidate elevator cars (YES in S606), the elevator control device 90 proceeds to S607. If there are no inactive candidate elevator cars (NO in S606), the elevator control device 90 proceeds to S608.

[0110] In S607, the elevator control device 90 determines the assigned elevator car from among the inactive candidate cars and terminates the car assignment determination process. For example, if a request for use comes from robot B, and cars A to C are selected as candidate cars, but car B is not in operation, then car B is selected as the assigned car. If a request for use comes from robot C, and cars A and C are selected as candidate cars, but car C is not in operation, then car C is selected as the assigned car. If there are multiple inactive cars, in principle, the car with the shortest waiting time should be assigned.

[0111] In S608, the elevator control device 90 determines the elevator car to be assigned from the candidate cars so that priority robots are assigned to cars with less congestion than normal robots, and then terminates the car assignment determination process. The processing content of this process is the same as that of S405.

[0112] As described above, the multiple cars 81 further include car 81c. Car 81c is not equipped with the variable device 84. The gap between car 81c and landing 86 is a distance D3 that is longer than distance D2 and shorter than distance D1. The multiple robots 40 further include robot 40c. Robot 40c has wheels that cannot move across the gap when the gap is distance D1, but can move across the gap when the gap is distance D3. Robot 40a cannot move across the gap when the gap is distance D3. When the processor 11 receives a request from robot 40a, it generates a boarding command for robot 40a assigning car 81a as the boarding car. When the processor 11 receives a request from robot 40b, it generates a boarding command for robot 40b assigning one of car 81a, car 81b, or car 81c as the boarding car. When the processor 11 receives a request from the robot 40c, it generates a boarding command for the robot 40c to assign either car 81a or car 81c as the boarding car. When the communication IF 15 sends a boarding command for car 81a to the robot 40c, it sends a control command to the elevator control device 90 to cause the variable device 84 of car 81a to perform variable control when the robot 40c boards or alights.

[0113] In this way, by having robot 40a ride in car 81a and robot 40c ride in cars 81a and 81c, it becomes unnecessary to install the variable device 84 in cars 81b and 81c, thus reducing installation costs. In addition, since the variable device 84 is not installed in cars 81b and 81c, it is possible to prevent a decrease in operational efficiency caused by moving the gap member 85 when the car stops and returning the gap member to its original position when the car departs. Furthermore, by having robot 40c ride in car 81c as well as car 81a, congestion in car 81a can be reduced as much as possible. By performing such fine-grained control, it is possible to close the gap between the elevator car-side sill 83 and the landing-side sill 88 for the passage of robot 40 while reducing the decrease in operational efficiency and the increase in equipment costs.

[0114] [Note] The embodiments described above are specific examples of the following appendix.

[0115] (Note 1) A robot management device that manages multiple robots that use multiple elevators installed within a building, When a request for use is received from any of the aforementioned multiple robots, a control device generates a boarding command assigning a car to one of the aforementioned multiple elevators, The system includes a communication device that transmits the boarding command to the robot that made the request to board the assigned cart, Each of the aforementioned multiple elevators has multiple cars, A first cage is provided with a variable device having a gap member, Including a second cage which is not provided with the aforementioned variable device, The gap between the car-side sill and the landing-side sill is a first distance between the first car or the second car and the landing. The variable device is configured to perform variable control by moving the gap member to change the gap to a second distance that is shorter than the first distance. Each of the aforementioned robots is configured to be able to move autonomously by driving its wheels. The aforementioned multiple robots A first robot having wheels that cannot move beyond the gap when the gap is the first distance, and can move beyond the gap when the gap is the second distance, The system includes a second robot having wheels that can move beyond the gap even if the gap is the first distance, The control device is When the request is received from the first robot, a boarding command is generated for the first robot, designating the first basket as the assigned basket. A robot management device that, upon receiving the request from the second robot, generates a boarding command for the second robot, designating either the first or second basket as the assigned basket.

[0116] (Note 2) The communication device is configured to communicate with the elevator control device that controls the plurality of elevators. The assigned elevator car is determined by the elevator control device. The aforementioned communication device is When transmitting the boarding command to the first robot to the first car, a control command is transmitted to the elevator control device to cause the variable device of the first car to perform the variable control when the first robot boards or alights. The robot management device according to Appendix 1, which transmits the boarding command to the second robot, designating the first car as the assigned car, and which does not transmit a control command to the elevator control device to cause the variable device of the first car to perform the variable control when the second robot boards or alights.

[0117] (Note 3) The communication device is configured to acquire the congestion levels of the multiple elevator cars and landings from the elevator control device. The robot includes a normal robot and a priority robot that has a higher priority than the normal robot. When the control device receives the request from the normal robot, it generates a delay command that instructs the normal robot to delay the time of its request for use, according to the degree of congestion. The communication device is a robot management device as described in Appendix 2, which transmits the delay command to the robot that made the request.

[0118] (Note 4) The communication device is configured to acquire the congestion levels of the multiple elevator cars and landings from the elevator control device. The second robot includes a normal robot and a priority robot that has a higher priority than the normal robot. The robot management device according to Appendix 2 or Appendix 3, wherein if the second assigned car, which is assigned to the priority robot waiting on the same floor as the normal robot, is more crowded than the first assigned car, which is assigned to the normal robot, the control device regenerates the boarding command for the normal robot to cancel boarding the first car, and regenerates the boarding command for the priority robot to board the first car.

[0119] (Note 5) The plurality of cages further include a third cage that is not provided with the variable device, The gap is a third distance between the third carriage and the landing that is longer than the second distance and shorter than the first distance. The plurality of robots further comprises a third robot having wheels that cannot move beyond the gap when the gap is a first distance, and can move beyond the gap when the gap is a third distance. The first robot cannot move beyond the gap when the gap is the third distance. The control device is When the request is received from the first robot, a boarding command is generated for the first robot, designating the first basket as the assigned basket. When the request is received from the second robot, a boarding command is generated for the second robot, specifying that one of the first, second, or third baskets is the assigned basket. When the request is received from the third robot, a boarding command is generated for the third robot, designating either the first basket or the third basket as the assigned basket. The robot management device as described in Appendix 2, wherein the communication device transmits the boarding command to the third robot to the first car, and transmits a control command to the elevator control device to cause the variable device of the first car to perform the variable control when the third robot boards or alights.

[0120] (Note 6) The system comprises a robot management device described in any one of the appendices 2 to 4, the plurality of robots, and the elevator control device. The elevator control device is a control system that, upon receiving the request from the second robot, determines the assigned elevator car according to the current operating status of the plurality of elevator cars.

[0121] (Note 7) The system comprises a robot management device described in any one of the appendices 2 to 4, the plurality of robots, and the elevator control device. The elevator control device is a control system that determines the assigned elevator car so that the priority robot is assigned to the less crowded elevator car than the normal robot.

[0122] (Note 8) The aforementioned conventional robot includes a transport robot for transporting goods and a cleaning robot for cleaning the inside of the building. The control system described in Appendix 6 or Appendix 7 includes a guide robot that leads people through the building. [Explanation of Symbols]

[0123] 1 Control system, 2 Building, 3 Elevator shaft, 5 Person, 11, 91 Processor, 12, 92 Memory, 14, 94 Storage device, 15, 45, 95 Communication interface, 16, 46, 96 Communication path, 40, 40a, 40aa, 40ab, 40b, 40c Robot, 41 Control unit, 42, 72 Wireless communication device, 43 Camera, 44 Storage device, 48 Battery, 49 Drive unit, 61 Ceiling, 73 Camera, 81, 81a~81c Car, 82 Car floor, 83 Car side sill, 84 Variable device, 85 Gap member, 86 Landing, 87 Landing floor, 88 Landing side sill, 90 Elevator control device, 100 Robot management device, 210 Landing device, 220 Unit A device, 230 Unit B device.

Claims

1. A robot management device that manages multiple robots that use multiple elevators installed within a building, When a request for use is received from any of the aforementioned multiple robots, a control device generates a boarding command assigning a car to one of the aforementioned multiple elevators, The system includes a communication device that transmits the boarding command to the robot that made the request to board the assigned cart, Each of the aforementioned multiple elevators has multiple cars, A first cage is provided with a variable device having a gap member, Including a second cage which is not provided with the aforementioned variable device, The gap between the car-side sill and the landing-side sill is a first distance between the first car or the second car and the landing. The variable device is configured to perform variable control by moving the gap member to change the gap to a second distance that is shorter than the first distance. Each of the aforementioned robots is configured to be able to move autonomously by driving its wheels. The aforementioned multiple robots A first robot having wheels that cannot move beyond the gap when the gap is the first distance, and can move beyond the gap when the gap is the second distance, The robot includes a second robot having wheels that can move beyond the gap even if the gap is the first distance, The control device is When the request is received from the first robot, a boarding command is generated for the first robot, designating the first basket as the assigned basket. A robot management device that, upon receiving the request from the second robot, generates a boarding command for the second robot, designating either the first or second basket as the assigned basket.

2. The communication device is configured to communicate with the elevator control device that controls the plurality of elevators. The assigned elevator car is determined by the elevator control device. The aforementioned communication device is When transmitting the boarding command to the first robot to the first car, a control command is transmitted to the elevator control device to cause the variable device of the first car to perform the variable control when the first robot boards or alights. The robot management device according to claim 1, wherein when transmitting the boarding command to the second robot to assign the first car as the car, the elevator control device does not transmit a control command to cause the variable device of the first car to perform the variable control when the second robot boards or alights.

3. The communication device is configured to acquire the congestion levels of the multiple elevator cars and landings from the elevator control device. The robot includes a normal robot and a priority robot that has a higher priority than the normal robot. When the control device receives the request from the normal robot, it generates a delay command that instructs the normal robot to delay the time of its request for use, according to the degree of congestion. The robot management device according to claim 2, wherein the communication device transmits the delay command to the robot that made the request.

4. The communication device is configured to acquire the congestion levels of the multiple elevator cars and landings from the elevator control device. The second robot includes a normal robot and a priority robot that has a higher priority than the normal robot. The robot management device according to claim 2, wherein if the second assigned cart assigned to the priority robot is more crowded than the first assigned cart assigned to the normal robot, the control device regenerates the boarding command for the normal robot to cancel boarding the first cart, and regenerates the boarding command for the priority robot to board the first cart.

5. The plurality of cages further include a third cage that is not provided with the variable device, The gap is a third distance between the third carriage and the landing that is longer than the second distance and shorter than the first distance. The plurality of robots further comprises a third robot having wheels that cannot move beyond the gap when the gap is a first distance, and can move beyond the gap when the gap is a third distance. The first robot cannot move beyond the gap when the gap is the third distance. The control device is When the request is received from the first robot, a boarding command is generated for the first robot, designating the first basket as the assigned basket. When the request is received from the second robot, a boarding command is generated for the second robot, designating one of the first, second, or third baskets as the assigned basket. When the request is received from the third robot, a boarding command is generated for the third robot, specifying that either the first basket or the third basket is the assigned basket. The robot management device according to claim 2, wherein when the communication device transmits the boarding command to the third robot to board the first car, it transmits a control command to the elevator control device to cause the variable device of the first car to perform the variable control when the third robot boards or alights.

6. The robot management device comprises the robot management device according to any one of claims 2 to 4, the plurality of robots, and the elevator control device, The elevator control device is a control system that, upon receiving the request from the second robot, determines the assigned elevator car according to the current operating status of the plurality of elevator cars.

7. The robot management device according to claim 4, the plurality of robots, and the elevator control device, The elevator control device is a control system that determines the assigned elevator car such that the priority robot is assigned to the less crowded elevator car than the normal robot.

8. The aforementioned conventional robot includes a transport robot for transporting goods and a cleaning robot for cleaning the inside of the building. The control system according to claim 7, wherein the priority robot includes a guidance robot that leads a person through the building.

Images