Elevator system and control method thereof

Abstract

To provide an elevator system and a control method thereof, which are operated based on image information when the number of robots according to position signals sent by the robots and the number of robots according to image information do not match each other. [Solution] The elevator system includes one or more elevator machines, a video unit, and a control unit, each of which includes one or more elevator cars, the video unit including a first video device installed inside the elevator car and a second video device installed at each landing on each floor of the building, the control unit including a first control unit that controls and manages the operation of the elevator and a second control unit that controls and manages the operation of a robot, and the one or more elevator machines each constitute an elevator system operated in any one of a non-robot-only mode, a robot-only mode, and a passenger mode.

Description

[Technical field]

[0001] The present invention relates to an elevator system and a control method thereof. [Background technology]

[0002] An elevator includes an elevator car that moves along a hoistway formed vertically inside a building, a hoist that generates power to raise and lower the elevator car, and a power transmission member that transmits the power of the hoist to the car.

[0003] Inside a building, an elevator car moves along a vertical shaft. The elevator is equipped with a motor that generates power to raise and lower the elevator car, a hoist, etc. One or more elevators installed inside a building can be controlled and managed in an integrated manner.

[0004] Through elevators, non-robotic and / or robotic objects such as people, cargo, animals, and plants can move vertically within a building.

[0005] In recent years, robot-based services have become more common, but the robots that have been commercialized to date are capable of moving horizontally but are not designed for vertical movement, so a means of movement between floors in a building is necessary.

[0006] As a result, various linkage control technologies between robots and elevators are being developed so that robots can board elevators and move between floors within a building. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Korean Patent Publication No. 10-2022-0139528 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention provides an elevator system and a control method thereof that are operated based on image information when the number of robots according to position signals sent by the robots and the number of robots according to image information do not match each other. [Means for solving the problem]

[0009] According to one aspect of the present invention to achieve the above object, there is provided an elevator system including one or more elevator machines, a video unit, and a control unit, wherein the one or more elevator machines each include one or more elevator cars, the video unit includes a first video device installed inside the elevator cars and a second video device installed at each landing on each floor of a building, the control unit includes a first control unit that controls and manages the operation of the elevator and a second control unit that controls and manages the operation of a robot, and the one or more elevator machines are each operated in any one of a non-robot-only mode, a robot-only mode, and a passenger mode.

[0010] The video unit can transmit to the first control unit one or more of the following calculated based on the video information recognized by the first video device: the number of robots on board a specific elevator car; the number of non-robots on board a specific elevator car; the number of robots on board all elevator cars by car; the number of non-robots on board all elevator cars by car; the number of robots on board all elevator cars in the building; and the number of non-robots on board all elevator cars in the building.

[0011] The video unit can transmit to the first control unit one or more of the following calculated based on the video information recognized by the second video device: the number of robots waiting at a platform in front of a specific car on a specific floor; the number of non-robots waiting at a platform in front of a specific car on a specific floor; the number of robots waiting at all the platforms at a specific floor; the number of non-robots waiting at all the platforms at a specific floor; the number of robots waiting at all the platforms for each car; the number of non-robots waiting at all the platforms for each car; the number of robots waiting at all the platforms in a building; and the number of non-robots waiting at all the platforms in a building.

[0012] The second control unit can transmit to the first control unit one or more of the number of robots on board a specific elevator car calculated based on a position signal sent by a robot; the number of robots on board in all elevator cars by elevator car; and the number of robots on board in all elevator cars in the building.

[0013] The second control unit can transmit to the first control unit one or more of the following calculated based on the position signal sent by the robot: the number of robots waiting at a boarding area in front of a specific machine on a specific floor; the number of robots waiting at all boarding areas on a specific floor; the number of robots waiting at all boarding areas for each machine; and the number of robots waiting at all boarding areas in the building.

[0014] According to another aspect of the present invention to achieve the above-mentioned object, there is provided a control method for an elevator system, wherein, when the number of robots or the number of non-robots received from the video unit differs from the number of robots or the number of non-robots received from the second control unit, the first control unit adjusts the number of robots that can provide service on each floor of a building depending on the number of robots or the number of non-robots received from the video unit.

[0015] According to yet another aspect of the present invention to achieve the above-mentioned object, there is provided a control method for an elevator system, wherein, when the number of robots or the number of non-robots received from the video unit differs from the number of robots or the number of non-robots received from the second control unit, the first control unit switches the operation mode of the elevator unit depending on the number of robots or the number of non-robots received from the video unit.

[0016] When a specific elevator car is operated in the robot-only mode and according to the number of robots received from the video unit, if a state in which there are no robots waiting at the landing area of ​​the entire elevator car and no robots on board the elevator car is sustained for more than a certain period of time, the first control unit can switch the corresponding elevator car to the passenger mode.

[0017] When a corresponding elevator car has been converted from the robot-only mode to the passenger mode by the first control unit, and according to the number of non-robots received from the video unit, a state in which there are no non-robots waiting at the platform or boarding the elevator car in the entire elevator car is sustained for more than a certain period of time, the first control unit can return the corresponding elevator car from the passenger mode to the robot-only mode.

[0018] When a specific elevator car is operated in the non-robot-only mode, if the number of non-robots received from the video unit indicates that there are no non-robots waiting at the platform of the entire elevator car and no non-robots boarding the elevator car for a certain period of time or more, the first control unit can switch the corresponding elevator car to the passenger mode.

[0019] When a corresponding elevator car has been converted from the non-robot-only mode to the passenger mode by the first control unit, and according to the number of robots received from the video unit, a state in which there are no robots waiting at the platform or on board the elevator car in the entire elevator car is sustained for more than a certain period of time, the first control unit can return the corresponding elevator car from the passenger mode to the non-robot-only mode. Effect of the Invention

[0020] According to the present invention, even in an exceptional situation where the number of robots according to the position signals sent by the robots and the number of robots according to the image information do not match each other, it is possible to efficiently handle traffic volume. [Brief description of the drawings]

[0021] [Figure 1] FIG. 2 is a schematic diagram illustrating a robot and a non-robot on board an elevator car. [Diagram 2] 2 is a diagram illustrating an example of an internal image of an elevator car recognized by a first imaging device installed inside the elevator car. FIG. [Diagram 3] 13 is a diagram illustrating an example of an image of a platform recognized by a second imaging device installed at the platform. FIG. [Figure 4] 1 is a schematic diagram of an elevator system according to an embodiment of the present invention; [Diagram 5] 2 is a flowchart illustrating a control method for an elevator system according to an embodiment of the present invention. [Figure 6] 5 is a flowchart illustrating a control method for an elevator system according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, the configuration and operation of the preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. The present invention can be applied in various ways in the fields of robot control and elevator control. In addition, the following embodiment can be modified into many other forms, and the scope of the present invention is not limited to the following embodiment.

[0023] FIG. 1 is a schematic diagram showing a state in which a robot 310 and a non-robot 320 such as a person are riding inside an elevator car EC.

[0024] Referring to Fig. 1, an elevator car EC included in the elevator system of the present invention can carry not only non-robots 320 such as people, cargo, animals, plants, etc., but also a robot 310. In this specification, the robot 310 is used as a concept that broadly includes an autonomous mobile body, an unmanned mobile body, and other mechanical devices that move and / or perform operations automatically or by external control. The robot 310 may be a service robot for providing service on at least one floor in a building.

[0025] A first imaging device 110 for capturing images of the interior of the elevator car EC may be installed inside the elevator car EC, and a second imaging device 120 for capturing images of the elevator hall (where passengers get on and off the elevator) on each floor of the building may be installed.

[0026] 2 is a diagram illustrating an example of an internal image of an elevator car EC recognized by a first imaging device 110 installed inside the elevator car EC. As shown in FIG. 2, the first imaging device 110 can recognize a robot 310 and a non-robot 320 that are on the elevator car EC.

[0027] 3 is a diagram illustrating an example of an image of a platform recognized by a second imaging device 120 installed at the platform. As shown in FIG. 3, the second imaging device 120 can recognize a robot 310 and a non-robot 320 waiting at the platform.

[0028] 4 is a schematic diagram of an elevator system according to an embodiment of the present invention. Referring to FIG. 4, the system of the present embodiment includes a video unit 100 and a control unit 200.

[0029] The imaging unit 100 may include a first imaging device 110 installed inside the elevator car EC and a second imaging device 120 installed at each floor of the building. As the first imaging device 110 and the second imaging device 120, various devices capable of image recognition such as cameras and CCTVs and capable of communicating with the control unit 200 may be applied.

[0030] The control unit 200 may include a first control unit 210 that generally controls and manages the operation of the elevator, and a second control unit 220 that generally controls and manages the operation of the robot 310.

[0031] The imaging unit 100 recognizes and tracks the object 300. The object 300 may include a non-robot 320 such as a person, cargo, animal, or plant, and a robot 310. The imaging unit 100 may improve the classification and detection capabilities of the object 300 through machine learning.

[0032] The imaging unit 100 can calculate image information of the interior of the elevator car EC recognized by the first imaging device 110, and classify, detect, and recognize one or more objects 300 boarding the elevator car EC. The imaging unit 100 can calculate image information of the platform recognized by the second imaging device 120, and classify, detect, and recognize one or more objects 300 waiting at the platform.

[0033] The image unit 100 may transmit to the first control unit 210 one or more of the number of robots 310 on board a specific elevator car EC, the number of non-robots 320 on board a specific elevator car EC, the number of robots 310 on board all elevator cars EC by car, the number of non-robots 320 on board all elevator cars EC by car, the number of robots 310 on board all elevator cars EC in the building, and the number of non-robots 320 on board all elevator cars EC in the building, which are calculated based on the image information recognized by the first image device 110.

[0034] An elevator unit refers to an ID set for each elevator shaft. In addition, one elevator car is often arranged in one unit, but the present invention is not limited to this and includes cases where multiple elevator cars are arranged in one unit.

[0035] The video unit 100 may transmit to the first control unit 210 one or more of the following calculated based on the video information recognized by the second video device 120: the number of robots 310 waiting at a platform in front of a specific car on a specific floor, the number of non-robots 320 waiting at a platform in front of a specific car on a specific floor, the number of robots 310 waiting at all the platforms on a specific floor, the number of non-robots 320 waiting at all the platforms on a specific floor, the number of robots 310 waiting at all the platforms for each car, the number of non-robots 320 waiting at all the platforms for each car, the number of robots 310 waiting at all the platforms in the building, and the number of non-robots 320 waiting at all the platforms in the building.

[0036] The first control unit 210 may send a control signal to the image unit 100. The first control unit 210 may receive image information from the image unit 100. The first control unit 210 may perform elevator group management. The first control unit 210 may include a terminal, a monitoring panel, etc. for monitoring the elevators.

[0037] The second control unit 220 may send a control signal to the robot 310. The second control unit 220 may receive a position signal from the robot 310. The second control unit 220 may monitor the movement path of the robot 310 according to the position signal sent by the robot 310. The second control unit 220 may determine whether the robot 310 is boarding the elevator car EC and whether it is waiting at the platform according to the position signal sent by the robot 310.

[0038] The second control unit 220 can transmit to the first control unit 210 one or more of the number of robots 310 on board a specific elevator car EC, the number of robots 310 on board all elevator cars EC by elevator car number, and the number of robots 310 on board all elevator cars EC in the building, calculated based on the position signal sent by the robot 310.

[0039] The second control unit 220 can transmit to the first control unit 210 one or more of the number of robots 310 waiting at a boarding area in front of a specific machine on a specific floor, the number of robots 310 waiting at all boarding areas on a specific floor, the number of robots 310 waiting at all boarding areas for each machine, and the number of robots 310 waiting at all boarding areas in the building, calculated based on the position signal sent by the robot 310.

[0040] According to the present invention, even in an exceptional situation where the number of robots according to the position signal sent by the robots does not match the number of robots according to the video information, it is possible to efficiently handle traffic volume. To this end, the first control unit 210 can compare the number of robots 310 received from the video unit 100 with the number of robots 310 received from the second control unit 220. When the number of robots 310 received from the video unit 100 differs from the number of robots 310 received from the second control unit 220, the first control unit 210 can assign a priority to the number of robots 310 received from the video unit 100 and determine that the number of robots 310 received from the video unit 100 is the actual number of robots 310, and can adjust the number of robots 310 available for service on each floor of the building accordingly. This will be described below with a specific example.

[0041] (1) When the number of waiting robots 310 is different across all the boarding areas in the building

[0042] 1) When the number of robots 310 received from the video unit 100 is less than the number of robots 310 received from the second control unit 220

[0043] The first control unit 210 can adjust the number of robots 310 available for service on each floor to the number of robots 310 received from the video unit 100, and assign the optimal elevator number to the hall where a new robot 310 is called.

[0044] This makes it possible to prevent the first control unit 210 from determining that the limit on the number of serviceable robots 310 has been exceeded, even though it has not been exceeded, when the number of robots 310 received from the second control unit 220 indicates that the limit on the number of serviceable robots 310 has been exceeded, but the number of robots 310 received from the video unit 100 indicates that the limit on the number of serviceable robots 310 has not been exceeded. It also makes it possible to prevent unnecessary decentralized allocation of elevators on the assumption that the limit on the number of serviceable robots 310 has been exceeded, even though it has not actually been exceeded.

[0045] 2) When the number of robots 310 received from the video unit 100 is greater than the number of robots 310 received from the second control unit 220

[0046] The first control unit 210 adjusts the number of robots 310 available for service on each floor based on the number of robots 310 received from the video unit 100, thereby preventing the limit on the number of robots 310 available for service in some floor sections from being exceeded during the robot 310 call service.

[0047] This prevents the first control unit 210 from determining that the limit on the number of serviceable robots 310 has not been exceeded, even though it has actually been exceeded, when the number of robots 310 received from the second control unit 220 indicates that the limit has not been exceeded, but the number of robots 310 received from the video unit 100 indicates that the limit has been exceeded. Also, by distributing and allocating elevators, it is possible to prevent the robots 310 from being overcrowded in the elevator car EC.

[0048] (2) When the number of robots 310 inside each elevator car EC in the building is different from one another

[0049] 1) When the number of robots 310 received from the video unit 100 is less than the number of robots 310 received from the second control unit 220

[0050] The first control unit 210 can adjust the number of robots 310 available for service on each floor to the number of robots 310 received from the video unit 100, and assign the optimal elevator number to the hall where a new robot 310 is called.

[0051] This prevents the first control unit 210 from determining that the limit on the number of robots 310 that can provide services has been exceeded when in fact the limit has not been exceeded, in a case where the number of robots 310 received from the second control unit 220 indicates that the limit on the number of robots 310 that can provide services has been exceeded, but the number of robots 310 received from the video unit 100 indicates that the limit on the number of robots 310 that can provide services has not been exceeded.

[0052] 2) When the number of robots 310 received from the video unit 100 is greater than the number of robots 310 received from the second control unit 220

[0053] The first control unit 210 can adjust the number of robots 310 available for service on each floor to the number of robots 310 received from the video unit 100. It is possible to prevent the number of robots 310 available for service from exceeding the limit on a certain floor section during the robot 310 call service.

[0054] This prevents the first control unit 210 from determining that the limit on the number of robots 310 that can provide services has not been exceeded when in fact the limit has been exceeded, in a case where the number of robots 310 received from the second control unit 220 indicates that the limit on the number of robots 310 that can provide services has not been exceeded, but the number of robots 310 received from the video unit 100 indicates that the limit on the number of robots 310 that can provide services has been exceeded.

[0055] Meanwhile, the elevator may be operated in one of the following three modes:

[0056] 1) Non-robot only mode

[0057] This is a mode set so that only non-robots 320 such as people can board the elevator car EC, and an elevator car is assigned only in response to a call from a non-robot 320, and is not assigned in response to a call from a robot 310.

[0058] 2) Robot-only mode

[0059] This is a mode in which only the robot 310 is set to be able to board the elevator car EC, and an elevator car is assigned only in response to a call from the robot 310, and is not assigned in response to a call from a non-robot 320 such as a person.

[0060] 3) Passenger mode

[0061] This is a mode set so that all robots 310 and non-robots 320 can board the elevator car EC, and an elevator car is assigned when a robot 310 calls, and also when a non-robot 320 such as a person calls.

[0062] The first control unit 210 compares the number of robots 310 received from the image unit 100 with the number of robots 310 received from the second control unit 220, and if the number of robots 310 received from the image unit 100 differs from the number of robots 310 received from the second control unit 220, the first control unit 210 may switch the operation mode of the elevator based on the number of robots 310 received from the image unit 100. A specific example of this will be described below.

[0063] 5 is a flow chart illustrating a control method for an elevator system according to an embodiment of the present invention. Hereinafter, a description will be given with reference to FIG.

[0064] (Case 1) When a specific elevator is operated in robot-only mode (S110), according to the number of robots 310 received from the video unit 100, <1> There was no Robot 310 waiting at the boarding area for the entire train (S120). <2> There is no robot 310 on board the elevator car EC (S130). <3> If it continues for more than a "certain period of time" (S140)

[0065] In the above case (Case 1), the first control unit 210 switches the corresponding elevator car to a passenger mode (S150) and can assign the corresponding elevator car not only to calls for the robot 310 but also to calls for non-robots 320 such as people.

[0066] This improves the efficiency of traffic processing by solving the inefficiency of the elevator number being set to a robot-only mode even when there is no robot 310 actually using the elevator number, preventing non-robots 320 such as people from using the elevator number.

[0067] It is preferable that the first control unit 210 automatically switches to the passenger mode when the above conditions are satisfied, but this is not limiting. Also, the "certain time" may be a time designated in advance or may be a time that is automatically learned. The same applies below.

[0068] (Case 2) In a state where the corresponding elevator car is switched from the robot-only mode to the passenger mode by the first control unit 210 (Case 1), according to the number of non-robots 320 received from the video unit 100, <1> There were no non-robot 320s waiting at the platform in the entire unit (S160), <2> There are no non-robots 320 on board the elevator car EC (S170). <3> If it continues for a certain period of time (S180)

[0069] The above (Case 2) may include any one of the following three cases.

[0070] 1) According to the number of robots 310 received from the video unit 100, in the entire elevator car, there are robots 310 waiting at the platform or robots 310 aboard the elevator car EC.

[0071] 2) According to the number of robots 310 received from the video unit 100, there are no robots 310 waiting at the platform or in the elevator car EC in the entire elevator car, and this state continues for a "certain period of time" or more.

[0072] 3) When a hall call or car call is made by the robot 310

[0073] In the above case (Case 2), the first control unit 210 returns the corresponding elevator car from passenger mode to robot-only mode (S190), and may allocate the corresponding elevator car only in response to calls from a robot 310, and may not allocate the corresponding elevator car in response to calls from a non-robot 320 such as a person.

[0074] This allows for smoother call services for the robot 310 and improves the efficiency of traffic processing.

[0075] It is preferable that the first control unit 210 is set to automatically switch to the robot-only mode when the above conditions are satisfied, but is not limited thereto.

[0076] 6 is a flow chart illustrating a control method for an elevator system according to another embodiment of the present invention. Hereinafter, a description will be given with reference to FIG.

[0077] (Case 3) When a specific elevator is operated in a non-robot-only mode (S210), according to the number of non-robots 320 received from the video unit 100, <1> There were no non-robots 320, such as people waiting at the platform, in the entire vehicle in question (S220), <2> There are no non-robots 320 aboard the elevator car EC (S230). <3> If it continues for more than a "certain period of time" (S240)

[0078] The first control unit 210 switches the corresponding elevator car to a passenger mode (S250), and can assign the corresponding elevator car not only to calls of non-robots 320 such as people, but also to calls of the robots 310.

[0079] This improves the efficiency of traffic processing by solving the inefficiency of the elevator number being set to a non-robot-only mode even when there are no non-robots 320, such as people, actually using the elevator number, and the robots 310 being unable to use the elevator number.

[0080] It is preferable that the first control unit 210 is set to automatically switch to the passenger mode when the above conditions are satisfied, but is not limited thereto.

[0081] (Case 4) When the corresponding elevator car is switched from the non-robot-only mode to the passenger mode by the first control unit 210 (Case 3), according to the number of robots 310 received from the video unit 100, <1> There was no Robot 310 waiting at the boarding area for the entire train (S260), <2> There is no robot 310 on board the elevator car EC (S270). <3> If it continues for a certain period of time (S280)

[0082] The above (Case 4) may include any one of the following three cases.

[0083] 1) According to the number of non-robots 320 received from the video unit 100, in the entire elevator car, there are non-robots 320 waiting at the platform or in the elevator car EC.

[0084] 2) According to the number of non-robots 320 received from the video unit 100, in the entire elevator car, there are no non-robots 320 waiting at the platform or in the elevator car EC, and this state continues for a "certain period of time" or more.

[0085] 3) When a hall call or car call occurs by a non-robot 320

[0086] In the above case (Case 4), the first control unit 210 returns the corresponding elevator car from the passenger mode to the non-robot-only mode (S290), and may allocate the corresponding elevator car only in response to calls from non-robots 320 such as people, and not in response to calls from robots 310.

[0087] This allows smooth calling services for non-robots 320 such as people, and improves the efficiency of traffic processing.

[0088] It is preferable that the first control unit 210 is set to automatically switch to the non-robot dedicated mode when the above conditions are satisfied, but is not limited thereto.

[0089] It will be obvious to those having ordinary skill in the art to which the present invention pertains that the present invention is not limited to the above embodiments and can be modified or altered in various ways without departing from the technical scope of the present invention. [Explanation of symbols]

[0090] EC Elevator Car 100 Video Section 110 First Imaging Device 120 Second Imaging Device 200 Control section 210 First Control Section 220 Second Control Section 300 Targets 310 Robot 320 Non-Robot

Claims

1. The system includes one or more elevators, a video unit, and a control unit; each of the one or more elevator units includes one or more elevator cars; the imaging unit includes a first imaging device installed inside the elevator car and a second imaging device installed at each landing of each floor of the building, The control unit includes a first control unit that controls and manages the operation of an elevator and a second control unit that controls and manages the operation of a robot, The one or more elevators are each operated in one of a non-robot-only mode, a robot-only mode, and a passenger mode; When the number of robots or the number of non-robots received from the video unit is different from the number of robots or the number of non-robots received from the second control unit, the first control unit switches the operation mode of the elevator machine according to the number of robots or the number of non-robots received from the video unit; an elevator system that gives priority to the number of robots or the number of non-robots received from the video unit over the number of robots or the number of non-robots received from the second control unit.

2. The imaging unit calculates the image based on the image information recognized by the first imaging device. The number of robots inside a particular elevator car; The number of non-robots inside a particular elevator car; The number of robots in each elevator car; The number of non-robots in each elevator car; The number of robots inside all elevator cars in the building; and Number of non-robots inside all elevator cars in the building; The elevator system according to claim 1 , wherein one or more of the following is transmitted to the first control unit.

3. The imaging unit calculates the image based on the image information recognized by the second imaging device. The number of robots waiting at a platform in front of a particular unit on a particular floor; The number of non-robots waiting at a platform in front of a particular unit on a particular floor; The number of robots waiting across the landings on a particular floor; The number of non-robots waiting across all landings at a particular level; Number of robots waiting at each platform; Number of non-robots waiting at each platform; The number of robots waiting at all landings in the building; and Number of non-robots waiting across all landings in the building; The elevator system according to claim 1 , wherein one or more of the following is transmitted to the first control unit.

4. The second control unit calculates the position of the robot based on a position signal sent by the robot. The number of robots inside a particular elevator car; The number of robots in each elevator car; and Number of robots inside all elevator cars in the building; The elevator system according to claim 1 , wherein one or more of the following is transmitted to the first control unit.

5. The second control unit calculates the position of the robot based on a position signal sent by the robot. The number of robots waiting at a platform in front of a particular unit on a particular floor; The number of robots waiting across the landings on a particular floor; The number of robots waiting at each platform; and The number of robots waiting across all landings in the building; The elevator system according to claim 1 , wherein one or more of the following is transmitted to the first control unit.

6. 6. The control method for an elevator system according to claim 1, wherein, when the number of robots or the number of non-robots received from the video unit differs from the number of robots or the number of non-robots received from the second control unit, the first control unit adjusts the number of robots capable of providing service for each floor of a building depending on the number of robots or the number of non-robots received from the video unit.

7. When a specific elevator car is operated in the robot-only mode, and according to the number of robots received from the video unit, there are no robots waiting at the platform of the elevator car and no robots on board the elevator car for a certain period of time or more, The control method for an elevator system according to claim 1 , wherein the first control unit converts a corresponding elevator car to the passenger mode.

8. When the corresponding elevator car is switched from the robot-only mode to the passenger mode by the first control unit, and according to the number of non-robots received from the video unit, there are no non-robots waiting at the platform of the entire elevator car and there are no non-robots boarding the elevator car for a certain period of time or more, 8. The control method for an elevator system according to claim 7, wherein the first control unit returns a corresponding elevator car from the passenger mode to the robot dedicated mode.

9. When a specific elevator car is operated in the non-robot-only mode, and according to the number of non-robots received from the video unit, there are no non-robots waiting at the platform of the entire elevator car and there are no non-robots on board the elevator car for a certain period of time or more, The control method for an elevator system according to claim 1 , wherein the first control unit converts a corresponding elevator car into a passenger mode.

10. When the corresponding elevator car is switched from the non-robot-only mode to the passenger mode by the first control unit, and according to the number of robots received from the video unit, there are no robots waiting at the platform of the entire elevator car and there are no robots on board the elevator car for a certain period of time or more, 10. The control method for an elevator system according to claim 9, wherein the first control unit returns a corresponding elevator car from the passenger mode to the non-robot dedicated mode.

Images