Elevator Control System

Abstract

To simply and easily provide an elevator control system by which a self-traveling robot can get on a car of an elevator and moves up / down to a designated floor for the movement between respective floors.SOLUTION: An elevator control system 1 allows a robot 10 capable of traveling on floors in a multistory building to get on a car 1100 of an elevator to move to a floor of the other floors. The elevator control system includes a robot server 100 provided in the building, information providing means 500 installed in each floor such that the robot getting on the car of the elevator can detect the arrival of the car at a floor of a destination floor which is a designated floor, and an EV controller 200 provided in each floor such that the robot server 100 issues an instruction (a command) for the movement of the car to the destination floor. The robot includes a control unit 17 for performing the control such that the robot exits from the car when the arrival of the car at the destination floor is confirmed by the information providing means.SELECTED DRAWING: Figure 1(A)

Description

[Technical field]

[0001] The present invention relates to an elevator control system that can move a self-propelled robot (hereinafter, sometimes referred to as a "self-propelled robot") that can deliver items such as lunch boxes to designated locations on each floor and collect designated items such as garbage from designated locations on each floor in multi-story buildings in various fields such as hotels, hospitals, nursing homes, logistics warehouses, restaurants, etc., to other floors. [Background technology]

[0002] 2. Description of the Related Art Conventionally, room service has been widely practiced, in which food, beverages, etc. are delivered to guests in their rooms on each floor of a hotel in response to their requests.

[0003] Usually, in this case, food and drinks are delivered by hotel staff carrying the ordered drinks and food, or if there are a lot of drinks and food, they are placed on a cart and delivered to the guest room on the designated floor using an elevator or other means.

[0004] In addition, for example, for patients in each hospital room who have difficulty walking and are unable to travel to the dining room, a cart containing food for lunch is often used to go around the hospital rooms on each floor in an elevator to serve them lunches.

[0005] However, there are situations where it is difficult to go around to guest rooms on each floor of a hotel or to patient rooms in a hospital for some reason. For example, when delivering lunch boxes to patient rooms in a hospital or guest rooms in a hotel that are isolated for infectious disease control, it is necessary to wear clothes with sufficient protective measures. In such cases, it is necessary to carry out disposal work such as washing and disinfecting the clothes after use, which is troublesome and may involve the risk of infection. For these reasons, it is difficult to provide various services safely by hand in a multi-story building, which is a problem.

[0006] Therefore, attempts have been made to have self-propelled robots perform such services in place of people, and for example, the proposals described in Patent Documents 1 to 3 have been made.

[0007] In Patent Document 1, in order to instruct and manage destinations for a plurality of robots using elevators, an elevator management device calculates the time it takes for each robot to arrive at a desired destination based on the elevator operation status, and identifies at least one robot based on the calculated time. The elevator management device then outputs destination information including information about elevators that can be used by the identified robot to move to the desired destination.

[0008] Patent document 2 also describes a system that includes a robot that travels along a route based on map information, an elevator that transports the robot, and a server that stores the map information, with the server having a map transmission unit that transmits map information of the area to which the elevator has transported the robot when the elevator transports the robot.

[0009] Furthermore, Patent Document 3 describes a configuration consisting of a monitoring center that changes settings remotely or at the request of the building owner, and a robot that moves within the building, in which the robot uses the building's wireless equipment to transmit the floor the robot is currently on, the destination floor, and the scheduled time of movement to the elevator via a monitoring center server installed in the monitoring center. Upon receiving the information, the elevator moves the car to the floor the robot is currently on at that time, and then moves to the destination floor, performing a series of controls. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] Patent Publication No. 2021-31264 [Patent Document 2] Patent Publication No. 2021-113917 [Patent Document 3] Patent Publication No. 2021-70578 Summary of the Invention [Problem to be solved by the invention]

[0011] In the system described in Patent Document 1, destination information is given to a specific robot among multiple operating robots to control and manage the movement of the specific robot, enabling the robot to move to a desired destination. However, Patent Document 1 does not provide any specific technology or system for allowing a robot to enter and exit an elevator car and move freely to different floors.

[0012] Moreover, the technology described in Patent Document 2 transmits and provides map information related to the area of ​​the destination floor when the robot is transported by elevator, and is intended to enable smooth self-location estimation and path tracking. Therefore, even in Patent Document 2, it is not possible to obtain a specific technology or system for allowing the robot to enter and exit the elevator car and move freely to different floors.

[0013] Furthermore, in Patent Document 3, a control method is provided that enables cooperation between a robot and an elevator using only existing equipment, but the robot itself creates movement request information, and the monitoring center server controls and manages the elevator based on this movement request information. In other words, since the elevator is remotely controlled via the monitoring center server, significant system modifications are required to build the system, which increases costs, and there is a high possibility that ordinary elevator systems cannot be easily and quickly modified.

[0014] The present invention has been made in consideration of the above-mentioned problems, and has an object to provide an elevator control system that can perform elevator control when a self-propelled robot gets into an elevator car to move to each floor in a multi-story building and moves up and down to a specified floor, in other words, that enables a self-propelled robot to get on and off an elevator, in a simple and easy manner without requiring large-scale system modifications to a normal elevator. [Means for solving the problem]

[0015] The invention of claim 1 is an elevator control system for a robot capable of traveling on floors in a multi-story building to get into an elevator car and move to other floors, comprising a robot server provided in the building to control the robot, information providing means provided on each floor to enable the robot that has gotten into the elevator car to detect that the car has arrived at a designated destination floor, and an EV controller provided on each floor to receive commands issued from the robot server to the car regarding movement to the destination floor, and characterized in that the robot is provided with a control unit that controls the robot to exit the car when it confirms that it has arrived at the destination floor by receiving information from the information providing means.

[0016] The invention of claim 2 further comprises an EV button operation device which is operated by the control of the EV controller receiving a command from the robot server and operates a call button for calling the car, The EV button operation tool is characterized by having an (electric) mechanism for mechanically performing the pressing operation of the call button.

[0017] The invention of claim 3 is characterized in that the robot server is configured to issue a command to the EV controller to terminate the pressing operation of the EV button by the EV button operating tool when it is confirmed that the robot has completed the operation of getting into the basket and when it is confirmed that the robot has completed the operation of leaving the basket.

[0018] The invention of claim 4 is characterized in that the elevator is configured to stop only at designated floors and the car doors and elevator doors open and close automatically, and the robot is equipped with a floor confirmation means for confirming the floor number of the floor to which the car has moved by receiving information regarding the floor ID broadcast from the information supply means inside the car in which the robot is riding when both the elevator door on the building side and the car door on the elevator car are opened, and the control unit of the robot is configured to confirm that the floor number of the detected current floor of the car matches the destination floor, which is the designated floor, and then control the running movement mechanism provided on the robot to cause the robot to exit the car.

[0019] The invention of claim 5 is characterized in that the EV controller is configured to receive instructions from the robot server, collectively issue commands for controlling the stopping operation of the car at the destination floor and the opening and closing operations of the elevator doors and car doors, and to issue commands to adjust and control the opening times of the car doors and the elevator doors provided on the car, as necessary.

[0020] The invention of claim 6 is characterized in that an operation panel equipped with a control means for generating control signals for controlling the stopping operation of the car at the destination floor and the opening and closing operations of the elevator doors and the car doors based on the commands from the EV controller and outputting the control signals to a controller in the EV tower of the multi-story building is mounted in the call button panel near the elevator doors on each floor.

[0021] The invention of claim 7 is characterized in that the robot is configured to transmit a communication signal (waiting signal) from the robot to the robot server when the robot has moved to the EV door or immediately before the EV door to inform the robot server that the robot is waiting for a car, and the robot server is configured to output a command signal for calling a car and stopping the car at the destination floor from the robot server to the EV controller when the robot server receives the communication signal from the robot, and the EV controller is configured to transmit a control signal for starting the operation of the EV button operating device to the receiving unit of the EV button operating device and to transmit the control signal to the control means of the operation panel.

[0022] The invention of claim 8 is characterized in that the robot server of the robot is configured to transmit to the robot in chronological order a group of driving commands for the robot to perform autonomous driving when moving to an EV door on each floor. Effect of the Invention

[0023] The invention of claim 1 is an elevator control system for a robot capable of traveling on floors in a multi-story building to enter an elevator car and move to other floors, comprising a robot server provided in the building to control the robot, information providing means provided on each floor to enable the robot inside the elevator car to detect that the elevator car has arrived at a designated destination floor, and an EV controller provided on each floor to receive commands issued from the robot server to the car regarding movement to the destination floor, and a control unit that controls the robot to exit the car when it confirms that it has arrived at the destination floor by receiving information from the information providing means.

[0024] Therefore, according to the invention of claim 1, it is possible to control the elevator car and the elevator door when the robot gets into the elevator car to move up and down to a specified floor in order to move within a floor of a multi-story building (multiple floors). For example, in a multi-story hotel, an unmanned delivery robot that delivers goods to a specified location on each floor can move freely by itself to the specified floor and deliver goods such as lunch boxes to the locations corresponding to each room on that floor.

[0025] Furthermore, for this reason, even in the case of an elevator for general use, such as that used by hotel guests, by making only the minimum necessary modifications to the control system and installing the minimum necessary equipment, it will be possible for passengers to use the same operating system as for general passengers and to freely move between floors.

[0026] In other words, since there is no need to install new elevator facilities dedicated to robots, by using robots, for example, in hotels, hospitals, nursing homes, logistics warehouses, factories, companies, and other multi-story buildings, various versatile applications and services such as delivery services including lunch boxes to designated locations on each floor, garbage disposal services such as collecting garbage bins for garbage collection and returning empty garbage bins to their original locations, mobility guidance services for guests, sick people, visitors, etc. to designated locations, collection and delivery services such as collecting and delivering documents to designated departments on each floor in multi-story buildings, cleaning services that clean each floor, and patrol security services that patrol each floor late at night, etc., can be realized by introducing and installing the necessary equipment and systems in existing buildings.

[0027] The invention of claim 2 comprises an EV button operating device which operates under control of the EV controller which receives commands from the robot server and operates a call button for calling the cage, and the EV button operating device has an (electric) mechanism for mechanically pressing the call button.

[0028] Therefore, with an elevator control system configured as described above, the EV controller receives commands from the robot server and sends the required signals to operate the EV operating device, allowing the robot to freely call an elevator to the floor where it is located.

[0029] For this reason, even in the case of an elevator for general use, such as that used by hotel guests, by making only the minimum necessary modifications to the control system and adding the minimum necessary equipment, it will be possible to use the same operating system for robots as for use by general guests. In other words, the robot will be able to freely get into the elevator by itself and move freely to each floor.

[0030] The invention of claim 3 is configured such that the robot server is capable of issuing to the EV controller a command to terminate the pressing action of the call button by the EV button operating device when it is confirmed that the robot has completed the action of getting into the basket and when it is confirmed that the robot has completed the action of leaving the basket.

[0031] Therefore, according to the invention of claim 3, the EV operation tool can be controlled by issuing a command from the robot server in accordance with the robot's own timing, and the elevator can be freely called by operating the pressing action of the call button. Even if the EV button is pressed manually on another floor, the robot server performs a retry process (if the robot does not arrive in front of the EV door of the destination floor after the specified time has elapsed, the server trigger presses the call button of the destination floor again), which will take extra time to move, but will ensure that the robot can move to the destination floor. As a result, when moving to another floor using the elevator, all that is required is to physically press the call button, and the rest is electrical processing based on the command from the robot server, making it easy to move to another floor by the robot. In addition, this electrical control may be achieved by directly accessing a controller (e.g., a central control panel) installed in the control room of the elevator tower and inputting the required signal that produces the same effect as the ON / OFF operation of the call button for each floor.

[0032] In addition, the invention of claim 4 is configured such that the elevator stops only at designated floors and the car doors and elevator doors open and close automatically, and the robot is equipped with a floor confirmation means for confirming the floor to which the car has moved by receiving information regarding the floor ID broadcast from the information supply means inside the car in which the robot is riding when both the elevator door on the building side and the car door on the elevator car are opened, and the control unit of the robot is configured to confirm that the floor number of the detected current floor of the car matches the destination floor, which is the designated floor, and then control the running movement mechanism provided on the robot to cause the robot to exit the car.

[0033] Therefore, the robot in the car can confirm the floor the car has arrived at by receiving the broadcasting radio waves from the information providing means installed near the elevator doors on that floor when the elevator doors open. Even with a normal elevator, simply by installing information providing means on each floor, a robot that has entered the car can confirm the floor number on which the car is stopped while remaining in the car.

[0034] The invention of claim 5 is configured such that the EV controller receives instructions from the robot server, collectively issues commands to control the stopping operation of the car at the destination floor and the opening and closing operations of the elevator doors and car doors, and, if necessary, issues commands to adjust and control the opening times of the car doors and the elevator doors provided on the car.

[0035] Therefore, according to the invention of claim 5, by providing a robot server and an EV controller, it becomes possible to use the elevator for people as it is, simply by performing electrical control, without making any physical changes or modifications. This means that less additional equipment is required, which reduces costs and increases versatility.

[0036] The invention of claim 6 is characterized in that an operation panel equipped with a control means that generates control signals for controlling the stopping operation of the car at the destination floor and the opening and closing operations of the elevator doors and the car doors based on the commands from the EV controller and outputs the control signals to a controller in the EV tower of the multi-story building is installed in the call button panel near the elevator doors on each floor.

[0037] Therefore, according to the elevator control system for an unmanned delivery robot of claim 6, by installing an operation panel integrally with the call button panel, it is possible to attach an operation panel equipped with control means for controlling the opening and closing operations of the elevator doors and car doors without the need for major renovation work such as drilling holes in part of the interior of the building.

[0038] The invention of claim 7 is configured such that when the robot moves to the EV door or just before it, the robot transmits a communication signal (waiting signal) to the robot server to inform the robot server that the robot is waiting for a car, and when the robot server receives the communication signal from the robot, the robot server outputs a command signal to the EV controller regarding calling a car and stopping the car at the destination floor, and the EV controller transmits a control signal to a receiving unit of the EV button operating device to start the operation of the EV button operating device, and transmits the control signal to a control means of the operation panel.

[0039] The invention of claim 8 is configured such that the robot server of the robot is configured to transmit to the robot in chronological order a group of driving commands for the robot to perform autonomous driving when moving to an elevator door on each floor. [Brief description of the drawings]

[0040] [Figure 1(A)] 1 is a schematic diagram showing an overall configuration of an elevator control system according to an embodiment of the present invention; [Figure 1(B)] 1 is a block diagram showing a configuration of a main part of an elevator control system according to an embodiment of the present invention. [Figure 2(A)] FIG. 2 is an explanatory diagram showing an overall control flow in the elevator control system according to the embodiment of the present invention. [Figure 2(B)] 1 is a configuration diagram of an EVPod used in an embodiment of the present invention. [Diagram 3] FIG. 2 is an explanatory diagram showing a schematic configuration of a robot that uses the system shown in FIG. 1(A) and facility equipment on each floor that cooperates with the robot. [Figure 4] 1 is an explanatory diagram showing a state in which various devices used in an elevator control system according to an embodiment of the present invention are installed in a normal elevator. [Diagram 5] FIG. 2 is an explanatory diagram showing a state when a button operating device (EVPod), which is one of the components of the elevator control system according to the embodiment of the present invention, is connected to a call button. [Figure 6] FIG. 2 is a configuration block diagram illustrating signal transmission between an EV control side and an elevator operation panel side in the elevator control system according to the embodiment of the present invention. [Figure 7] FIG. 2 is an explanatory diagram showing the operation of the EVPod. [Figure 8] 10 is a timing chart illustrating the timing of the movement of the robot and the basket and the opening and closing operation of the door, which are operated in response to commands from the robot server according to an embodiment of the present invention. [Figure 9]FIG. 1 is a sequence diagram showing the time flow of control in an elevator control system according to an embodiment of the present invention, and in particular shows the control along the time flow up until the robot gets into the EV car. [Figure 10] This is a sequence diagram, and in particular shows the control of the robot moving in the EV basket along the time flow until it gets off at the designated floor. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0041] The present invention provides an elevator control system in which a robot capable of traveling on floors in a multi-story building gets into an elevator car and moves to other floors, the elevator control system comprising: a robot server provided in the building for controlling the robot; information providing means provided on each floor for enabling the robot, once inside the elevator car, to detect that the car has arrived at a designated destination floor; and an EV controller provided on each floor for receiving commands issued from the robot server for the car to move to the destination floor, the elevator control system also comprising a control unit that controls the robot to exit the car when it confirms that it has arrived at the destination floor by receiving information from the information providing means.

[0042] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. 。 < Embodiment> FIGS. 1(A) and (B) are basic schematic diagrams showing an elevator control system according to a preferred embodiment of the present invention, in which an unmanned delivery robot can enter an elevator by itself and move to another floor.

[0043] This embodiment is applied to a hotel for isolating infected people, which is an isolation facility for preventing the spread of various diseases. That is, this embodiment describes an elevator control system in an elevator (hereinafter abbreviated as "EV") facility where an unmanned delivery robot (hereinafter abbreviated as "robot") that provides lunch boxes and the like to guests gets on and off in a hotel, which is a multi-story building used as a lodging facility for infected people.

[0044] In addition, in the explanation here, a general elevator equipped with a moving body for ascending and descending (hereinafter, referred to as a "cage") that is normally used by people is used as the EV of the present invention as is, but in the case of this embodiment, the configuration of the control and command system for calling the car and selecting / designating the destination floor is slightly modified.

[0045] [EV system configuration] In principle, the EV of this embodiment is to be used only by the robot, and not by guests (such as guests who are quarantined due to infection with a virus, etc.), but the system is designed to allow guests to use it. Also, as will be described in detail later, this EV is operated in a system where the car stops only at designated floors, just like a normal EV.

[0046] In addition to this unmanned delivery robot, robots using this EV control system can also be used in self-propelled robots for tasks such as collecting used linen in hotels, or delivering disinfected, clean linen to each guest room.

[0047] The elevator control system 1 (hereinafter referred to as "EV system 1") of this embodiment is a control system for an elevator (hereinafter abbreviated as "EV1000") that enables a robot 10, which will be described later, to move freely to each floor in a multi-story hotel.

[0048] As shown in FIG. 1(A), the EV system 1 of this embodiment includes a robot control server 100 (hereinafter abbreviated as "robot server 100"), an elevator controller 200 (hereinafter abbreviated as "EV controller 200"), an EV surveillance camera 300 (hereinafter abbreviated as "EV camera 300"), an EV button operation device 400 (hereinafter referred to as "EVPod 400"), an information output means 500, and an operation panel 600.

[0049] The EV1000 of this embodiment has a configuration substantially similar to that of a conventional elevator, and although details will be described later, a call button provided on a call button panel 1010 is pressed by the EVPod 400 to call an elevator car 1100 (hereinafter abbreviated as "car 1100") ascending and descending within the elevator tower to the floor where the robot 10 is located.

[0050] This call button panel 1010, which will be described in detail later, not only issues a call command to the cage 1100 via short-range wireless communication (Bluetooth) from the EV controller 200, but also enables short-range wireless communication with the operation panel 600 (described later) buried inside the hotel building, which is on the back side of this call button panel, at the same time, so that the casing of the call button panel 1010 is formed from a material that avoids metallic materials in order to facilitate the transmission of radio waves for short-range wireless communication. Similarly, the casing of the operation panel 600, particularly the front side that contacts the call button panel 1010, is also formed from a material that facilitates the transmission of radio waves for short-range wireless communication.

[0051] The EV 1000, the details of which will be described later, is configured to use the same system and operation configuration as a normal EV. In this embodiment, as shown in Figures 6, 8 to 10, etc., the following operational controls and commands are performed to enable movement to another floor by getting on and off the car 1100. [Regarding commands for each operation of the robot, EV door, and cage]

[0052] 1) The robot 10 calls the car 1100 to that floor by remotely pressing a down call button DB or an up call button UB on a call button panel 1010 via an EV controller 200 (described later) on that floor using the EVPod 400. Then, the car 1100 moves to the elevator door 1200 (hereinafter abbreviated as "EV door 1200") on that floor. 2) When the robot 10 confirms that the EV door 1200 is open by the obstacle detection sensor 13 built in the robot itself (described later), the robot moves towards the cage 1100 and gets in. At this time, the control means 630 provided on the operation panel 600 controls the timer 620 to keep the call button ON for a certain period of time so that the EV door 1200 will not close while the robot 10 is getting in. However, this timer time is set in consideration of the time from in front of the EV door 1200 where the robot 10 is tested on-site to the completion of the boarding movement to the cage 1100 in the EV and the completion of the exit movement of the robot 10 from the cage 1100 (described later). In addition, the obstacle detection sensor 13 equipped to the robot 10 can also check which EV has moved and opened the EV door in an elevator hall or other waiting area, even if there are multiple EVs in the building. 3) Then, the robot 10, upon detecting that the EV door 1200 has been opened, transmits / notifies the robot server 100 by wireless communication via WiFi that the car 1100 has arrived at this floor as information (hereinafter, this may be referred to as "boarding information"). 4) The robot server 100, upon receiving this boarding information, outputs, if necessary, to the EV controller 200, a closing time extension control signal (hereinafter, this may be referred to as "extended closing signal") for extending the opening / closing operation time for a certain period of time to the EV door 1200 and the door (hereinafter, this may be referred to as "car door 1100A") provided on the car 1100. The EV controller 200, which has received this extended closing signal, transmits a control signal (hereinafter, this may be referred to as "time control signal") for extending the opening / closing operation time for a certain period of time to the operation panel 600 described later. 5) On the other hand, in the operation panel 600, the receiving means 610 receives a destination floor stop signal from the EV controller 200 via the robot server 100 and outputs a control signal to the timer 620. The timer 620 that has received this control signal outputs a timer signal to the control means 630, and the control means 630 outputs a control signal to the controller 2000. As a result, the controller 2000 controls the closing operation of the EV door 1200 and the car door 1100A. As a result, after a certain period of time has passed, the EV door 1200 provided on that floor is closed. The door closing time is controlled based on the time required for the robot 10 to get into the cage 1100. The gap , EV door 1200 until closing Between Time until cage door 1100A closes In between It is checked in advance by a simulation experiment or the like whether the time is sufficiently short in comparison, and if there is sufficient time, the time extension control here is not necessary and can be omitted. 6) At the same time, the robot server 100 outputs to the EV controller 200 information about the destination floor (hereinafter, sometimes referred to as "destination floor information") that is selected / specified as the floor to which the user moves and gets off (hereinafter, sometimes referred to as "destination floor"). 7) After receiving this destination floor information, the EV controller 200 wirelessly transmits a control signal (hereinafter referred to as the “destination floor stop signal”) to the operation panel 600 to stop the car 1100 at the specified destination floor. 8) Meanwhile, in the operation panel 600, the receiving means 610 receives a destination floor stop signal from the EV controller 200 via the robot server 100 and outputs a control signal to the control means 630. The control means 630, which has received this control signal, outputs the control signal to the controller 2000. As a result, the controller 2000 in the EV tower outputs a signal to the hoist motor 3000 for car stop control at the specified floor, thereby controlling the operation of the hoist motor 3000. 9) Therefore, the selected / specified cage 1100 rises or descends with the robot 10 still on board up to the front of the EV door 1200 provided on the destination floor. 10) When the cage 1100 arrives at the designated floor, the robot 10 inside the cage 1100 confirms that it is the designated floor by wireless communication with the information providing means 500 consisting of a beacon (short-range wireless communication via Bluetooth) via the open cage door 1100A and EV door 1200. 11) Then, the robot 10 passes through the car door 1100A and the EV door 1200 that are open from inside the car 1100, gets off the car 1100, and moves to the designated floor. At this time, when the EV car 1100 arrives in front of the EV door 1200 on the destination floor, a signal requesting that the call button at the destination floor be turned off is sent from the robot 10 to the robot server 100. However, if the robot 10 is still unable to communicate with the robot server 100 when it exits to the destination floor, the robot server 100 will send a signal requesting that the call button at the destination floor be turned off to the receiving means 610 of the operation panel 600 by the operation of the timer described above.

[0053] [Robot configuration] First, the robot 10, which is the subject of use of this EV system 1, that is, an unmanned delivery robot, will be described in detail with reference to FIG. As shown in the figure, the robot 10 is equipped with a motor 11 provided as a traveling movement mechanism, a camera 12 consisting of a front camera 12A and a rear camera 12B (hereinafter, this may be referred to as the "robot camera 12"), an obstacle detection sensor 13, a floor number confirmation means 14, a WiFi communication device 15, a controller receiver 16 for remotely operating the robot 10 by operating the controller CTR, and an autonomous traveling control unit 17 (hereinafter, referred to as the "control unit 17"). Note that the robot 10 is assigned a unique IP address for communication with the robot server 100, and in order to set this IP address, initial settings must be performed on the robot 10 body.

[0054] The motor 11 rotates wheels (not shown) that support the robot body in the front, back, left and right directions. The motor 11 is connected to the output of the control unit 17 and is operated by a control signal from the control unit 17.

[0055] As described above, the robot camera 12 is composed of the front camera 12A and the rear camera 12B provided at the front and rear of the robot body. The front camera 12A and the rear camera 12B are connected to the input of the control unit 17. The control unit 17 can use the captured image information from the robot camera 12 for controlling the driving of the motor 11 for driving the wheels when the robot 10 moves and travels. At the same time, the robot camera 12, the obstacle detection sensor 13, and the EV camera 300 described later cooperate with each other to detect the floor condition near the current position of the robot 10 when the robot 10 gets on and off the EV 1000, for example, the presence or absence of an obstacle on the floor in the direction of travel, and further, the open / closed state of the EV door 1200. In the present invention, a 3D-LiDAR may be installed to detect the obstacle position in three dimensions.

[0056] Although this embodiment is directed to the operation of one robot, the robot camera 12 is also convenient when operating multiple robots. For example, if each robot is equipped with an image processing means, etc., image information from the robot camera 12 can be received by another robot traveling within a certain distance from the robot and the image information can be confirmed, thereby making it possible to avoid collision accidents in advance, such as when one robot gets off an elevator car and collides with another robot moving near the elevator door, or when passing a corner in a corridor or the like and encounters a robot moving around a corner that is hidden by the corner and cannot be seen.

[0057] The obstacle detection sensor 13 is not only used to check for the presence or absence of obstacles on the path ahead when the robot 10 travels on each floor or when the EV 1000 exits the cage 1100, but also to detect the open state of the EV door 1200 and the open state of the cage door 1100A that the robot 10 has moved into.

[0058] For this reason, for example, the obstacle detection sensor 13 in this embodiment uses a non-contact distance measuring sensor using a laser, i.e., 2D-LiDAR (Radio Detection and Ranging), but it is also possible to use an infrared sensor, an ultrasonic sensor, etc. Furthermore, the obstacle detection sensor 13 in this embodiment is not only used to obtain detection information for the movement of the robot 10 into and out of the cage 1100 and for the driving operation of the motor 11 when the robot 10 runs, but can also be used for SLAM (Simultaneous Localization and Mapping: simultaneous execution of self-location estimation and environmental map creation), autonomous running, etc., and its output is connected to the input of the control unit 17.

[0059] The floor number confirmation means 14 is for confirming the floor on which the robot 10 is currently located, and in this embodiment is composed of a BLE beacon receiver (hereinafter, this is called the "beacon receiver 14"), and is installed in a part of the robot 10 that is likely to receive radio waves from, for example, the information providing means 500. This allows the robot 10 to confirm the floor on which it is currently located, and to check the car door 1100A and the EV door 1100A before the robot 10, which has entered the EV car 1100, gets out of the car 1100. 200 When the door opens, the robot 10 can check the floor number, etc.

[0060] Although the details will be described later, the information providing means 500 is disposed, for example, at a portion facing the exit of the EV door 1200 (see FIG. 4) on each floor. The information providing means 500 of this embodiment is capable of measuring the distance to the robot 10 equipped with the beacon receiver 14 by using, for example, radio waves with a wavelength λ of 12.5 cm and a frequency of 2.4 GHz.

[0061] The WiFi (Wireless Fidelity) communication device 15 is used to transmit and receive data to and from the robot server 100, receive shooting information from the EV camera 300, and transmit data to the EVPod 400. iThe communication device 15 is a wireless LAN standard that enables interconnection in accordance with the IEEE (Institute of Electrical and Electronics Engineers: an academic research organization in the fields of electrical and information engineering) 802.11 standard, and establishes a wireless communication connection with the robot server 100 via a LAN (Local Area Network) or the like.

[0062] In this embodiment, the controller receiver 16 is for remotely controlling the robot 10 by an operator operating the controller CTR, for example, when necessary or in an emergency, rather than making the robot 10 travel autonomously. The controller receiver 16 in this embodiment is communication-controlled by receiving radio waves of a specific frequency oscillated from the controller CTR.

[0063] The control unit 17 controls the movement motor 11, the robot camera 12, the obstacle detection sensor 13, the floor confirmation means 14, the WiFi communication device 15, and the controller receiver 16, and these devices are electrically connected to each other.

[0064] Furthermore, in the present invention, when the robot reaches the EV door or just before it reaches the door, it may directly transmit a contact signal (waiting signal) to the robot server to inform the robot server that the robot is waiting for the basket. In this way, the robot server can know earlier. In other words, the robot server can know that the robot has come close to the EV door earlier than when it detects it from image information captured by the EV camera 300, etc., and therefore it is possible to reduce the waiting time for the basket to arrive.

[0065] [Specific and more detailed configuration of the EV system] Next, the EV system 1 will be described in detail with reference to FIG. 1, FIG. 2, etc. Only one robot server 100 is provided in this hotel, which is a multi-story building, and stores, for example, the travel paths (travel paths on corridors and the like stored for each floor) on each floor for the robot 10 to provide delivery service, room numbers on each floor (room numbers linked to room call phones to be used when necessary, and the like), and other necessary information, i.e., map data (two-dimensional or three-dimensional map information) for each floor, and room information (various information regarding each room on that floor, such as whether or not there is a guest staying in each room on a specified date, the number of guests and their stay dates (schedule) if there are guests, the planned departure time of guests planning to leave, the planned entry time of guests planning to stay, and other floor information, etc.

[0066] In particular, the robot server 100 transmits necessary data to the robot 10 and the EV controller 200 via wireless LAN, WiFi or wired connection, such as floor movement information, such as the next floor the robot 10 is scheduled to move to from this floor, and various other necessary information, such as the planned time of use when using the EV 1000 for this purpose, and also performs various necessary controls related to the movement operations required for the autonomous movement of the robot 10.

[0067] [Signal flow from robot to controller] In particular, the robot server 100 of this embodiment generates a first signal α (car stop floor instruction signal) for stopping the lifting and lowering operation of the car 1100 at the designated floor, which is the next destination, i.e., the destination floor, and outputs it to the EV controller 200, as shown in Fig. 6. The EV controller 200, which receives the first signal α, generates and transmits a second signal β (car stop floor instruction signal for the next stage) to the control means 630 of the operation panel 600, which will be described later. Furthermore, the control means 630, which receives the second signal β, generates a third signal γ (car stop floor instruction signal for the third stage) and outputs it to the controller 2000 (see Fig. 4) provided in the elevator tower as an elevator facility.

[0068] Similarly, the robot server 100 is configured to be able to output signals for controlling the opening / closing operation and the opening time of the EV door 1200 and the cage door 1100A to the control means 630 via a similar path.

[0069] Furthermore, the robot server 100 transmits a set of driving commands for the robot 10 to drive autonomously. This includes, for example, what commands to execute in chronological order when moving to the EV 1000 on each floor. The command types and command parameters must be adjusted depending on the driving environment. Various autonomous driving parameters can be changed instantly from the robot management app. Meanwhile, as mentioned above, the robot 10 is assigned an IP address, but this setting requires a setting operation on the robot 10 itself.

[0070] The EV controller 200 is for carrying out necessary control regarding the robot 10 getting on and off the elevator 1000. (I) Operation related to EVPod 400 (call operation of basket 1100): (II) A control command (destination control command) required for the elevator 1100 after the robot 10 has entered to ascend or descend to the destination floor: (III) If necessary, a door opening / closing time sufficient to execute the boarding operation of the robot 10 into the cage 1100 and the exiting operation of the robot 10 from the cage 1100, i.e., a door opening / closing time adjustment control command (door opening / closing time control command) for the EV door 1200 and the cage door 1100A: The EV controller 200 is installed on each floor.

[0071] The EV controller 200 of this embodiment is installed, for example, near a wall on each floor as shown in FIG. 4 (e.g., in a place that does not interfere with the movement and travel of the robot 10), and requires initial setting work to be performed in advance before use.

[0072] The EV controller 200 of this embodiment is configured to transmit to the EVPod 400 by Bluetooth (short-distance wireless communication in the 2.4 GHz band) set to a unique frequency channel that is different for each floor. This makes it possible to avoid malfunctions such as calling the car 1100 to a different floor.

[0073] The specific configuration of the EVPod 400 of this embodiment will be described in detail later, but as shown in Fig. 2(B), a receiver 410 is provided inside the EVPod 400. The EVPod 400 is installed in a state where it is superimposed on a call button panel 1010 installed on a wall near an EV door 1200 on a floor, using an appropriate adhesive means or the like. In this case, the receiver 410 can remotely control the EVPod 400 to selectively press either the upward call button (▲) UB or the downward call button (▼) DB of the call button panel 1010.

[0074] The EV camera 300 is a camera separate from the robot camera 12 consisting of a front camera 12A and a rear camera 12B built into the robot 10, and is composed of a single or multiple fixed cameras installed at any location on each floor.

[0075] In this embodiment, the video information captured by the camera 300 can also be distributed in real time to each device via the network 700 and the robot server 100, or directly by wireless communication such as WiFi. Therefore, for example, when the robot 10 moves to the EV door 1200 and returns, the situation can be photographed and transmitted to the robot server 100, and the robot server 100 that receives the photographed image can know that the robot 10 has returned to the EV door 1200 and is waiting for the arrival of the basket 1100 in order to move to the next designated floor.

[0076] In this embodiment, since one robot 10 is used on each floor, there are few situations where the functions of the EV system 1 in this embodiment are effectively utilized. However, in the case of a system that uses multiple robots, the effectiveness can be greatly demonstrated as described later.

[0077] In the EV camera 300 of this embodiment, even if the robot 10 is not near the EV door 1200 and opening / closing information of the EV door 1200 cannot be obtained from the obstacle detection sensor 13 (or images captured by the robot camera 12, etc.), the opening / closing state can be confirmed from the photographing information of the EV camera 300. That is, the EV controller 200 inputs photographing information from a fixed camera installed in a place facing the EV door 1200 and can constantly confirm the opening / closing state of the EV door 1200 at that time from the photographing information.

[0078] As described above, in the case of an EV system equipped with multiple elevators, for example, when the robot 10 is waiting for the arrival of the car 1100 in an elevator hall, it is assumed that a situation will arise in which the robot 10 must determine which EV door 1200 to enter through. In this case, it is possible to detect the open state of each EV door with the obstacle detection sensor 13 of the robot 10, but when three or more EV doors are provided, it is possible to quickly detect which EV door is open by detecting the open / closed state of all EV doors with the EV camera 300, and efficiently enter the car through the open EV door.

[0079] As shown in Figs. 3 to 5, the EVPod 400 is configured to call the basket 1100 of the EV 1000 to a desired floor, that is, in front of the EV door 1200 on the floor where the robot 10 is currently active, by pressing a call button on a call button panel 1010 provided near the EV door 1200. In this embodiment, the EVPod 400 is operated by short-range wireless communication using Bluetooth from the EV controller 200. Note that, in the EVPod of this embodiment, the operation is controlled by short-range wireless communication from the EV controller, but it may be configured to be connected by wire. In addition, the EVPod 400 of this embodiment is configured to operate by power supply from a battery pack not shown, but if it is configured to be connected to the EV controller by wire in this way, it can be powered from the EV controller, or it can be configured to be powered from a commercial power source via the EV controller side.

[0080] [Specific configuration of EVPod] As shown in FIG. 2B, the EVPod 400 of this embodiment includes a receiver 410 that receives radio waves (e.g., a Bluetooth radio signal of a predetermined channel) from the EV controller 200 via short-range wireless communication, a control unit 480 that inputs a detection signal output from the receiver 410 that has received the radio waves, a pulse motor 420 (hereinafter, simply referred to as "motor 420") that rotates in a predetermined direction (e.g., clockwise or counterclockwise) by a certain number of pulses when it receives a control signal (pulse signal) output from the control unit 480, and a rack and pinion mechanism (R&P) that is fixed to the output shaft of the motor 420 and works together with a rack 440, which will be described later. the pinion 430 constituting the pinion 430, a rack 440 meshing with the pinion 430, a tapered cam 440A provided on a part of the rack 440 changing its position in response to the movement of the rack 44, thereby providing pushers 450 for pressing either the upward call button UB or the downward call button DB of the call button panel 1010, a button illumination detection sensor 460 for detecting the lit state and outputting an illumination detection signal to the control unit 480, and a battery BTL for supplying power to these devices.

[0081] Although the EVPod of this embodiment is configured using a rack and pinion mechanism, it is not limited to this type of electric mechanism, and various mechanisms can be applied as long as they mechanically perform the pressing operation of the call button. Also, the EVPod of the present invention may be configured to be connected to an EV controller by wire, for example. With such a configuration, it is possible to supply power from the EV controller or from a commercial power source via the EV controller, rather than from the battery BTL.

[0082] In the EVpod 400 of this embodiment, the rotation direction of the motor 420 changes depending on the pulse signal output to the motor 420 in response to the Bluetooth signal sent from the EV controller 200 based on whether the destination floor is an upper or lower floor, so that one of the two types of pushers 450 presses either the upward call button UB or the downward call button DB.

[0083] In this embodiment, the robot server 100 or the EV controller 200 judges whether the destination of the car to be called is up or down by comparing the floor number corresponding to the next destination floor with the floor number on which the robot is currently active, and transmits a corresponding signal to the EVPod, and even controls the rotation direction of the motor 420. However, in the present invention, it is not particularly necessary to judge whether the destination floor is up or down, and it is sufficient to simply call the car 1100 to the floor where the robot 10 is located. Therefore, since it is necessary and sufficient to simply press either the up or down call button, the configuration is not limited to that of this embodiment, and a simpler configuration is sufficient.

[0084] In this embodiment, the EV controller 200 that receives the lighting detection signal may output a notification signal to the robot server 100 to inform the robot server 100 that the call button on the call button panel 1010 has been pressed. With this configuration, the robot server 100 can transmit information about the lighting operation of the button on the call button panel 1010 to the robot 10 by wireless communication via WiFi. Therefore, the robot 10 can recognize that the basket 1100 of the EV 1000 will soon arrive at this floor, and can prepare to enter the basket 1100 early.

[0085] The information providing means 500 is for the robot 10 to confirm which floor it is currently on. That is, an important purpose of the information providing means 500 in this embodiment is to immediately inform the robot 10 of the floor to which it has moved by getting into the car 1100 of the EV 1000, particularly the floor number of the floor to which it has moved, at the timing when both the EV door 1200 and the car door 1100A are opened. As a result, the robot 10 itself confirms the floor number of the floor to which it has currently moved, and knows that the elevator car has arrived at the designated destination floor, and can immediately get off the car and start moving to the designated floor with both the EV door 1200 and the car door 1100A open.

[0086] In addition, a different floor ID is set for each floor in the information providing means 500 to inform the robot 10 of the floor number, and the robot can detect the current floor number on which the car 1100 is stopped based on the floor ID information broadcast from the information providing means provided on each floor. With this configuration, the robot 10 itself can reliably detect the timing to get off the car 1100.

[0087] The information providing means 500 in this embodiment is installed near the front of the EV door 1200 in the elevator waiting corridor (EV hall). Therefore, when the robot 10 moves to the vicinity of the information providing means 500 in the elevator waiting corridor, the robot 10 receives floor ID information broadcast from the information providing means 500, and can immediately notify the robot server 100 and the EV controller 200 that it has moved to the vicinity of the EV door 1200 by wireless communication such as WiFi. By notifying the robot server 100 and the EV controller 200 of such information without delay, the robot server 100 and the EV controller 200 can promptly transmit information to call the car 1100 and to stop the car at the designated floor, so that the movement time of the robot 10 to the next floor can be shortened, thereby saving time.

[0088] The information providing means 500 of this embodiment has a virtual goal (hereinafter, referred to as "VG") setting function, and this VG is set near the EV door 1200, so that the information providing means 500 can detect that the robot 10 has come near the EV door 1200. Yo Even if the robot 10 is unable to notify the robot server 100 and the EV controller 200 via wireless communication such as WiFi, the information providing means 500 can detect that the robot 10 has approached the EV door 1200 and immediately provide information to the robot server 100 and the EV controller 200 via wireless communication such as WiFi.

[0089] [Operation Panel Configuration] The operation panel 600 receives information and commands through wireless communication between the EV controller 200 and a receiving means 610 provided inside, and is integrated with the call button panel 1010 and installed inside the building near the EV door 1200. The operation panel 600 is made of a material that does not cause electromagnetic shielding so that radio waves from the EV controller 200 can be received reliably. The specific material used for the operation panel 600 is preferably a non-magnetic material that is aesthetically pleasing in view of its use in a hotel, and may be made of, for example, a high-quality wood such as walnut, a resin such as PMMA that has a good appearance and is glossy, or high-quality glass with a chic or vivid color tone.

[0090] That is, in order to avoid intrusion into and modification of the internal structure of the hotel building, it is preferable that the operation panel 600 of this embodiment has a structure in which it is partially overlapped with the call button panel 1010, as described above. In other words, as shown in Fig. 1(B) and Fig. 2(A), the operation panel 600 of this embodiment is disposed integrally with the call button panel 1010 on the back side of the call button panel 1010 and is embedded inside the hotel building, but is formed of an appropriate material that can effectively transmit electromagnetic waves used for Bluetooth, which is a short-range wireless communication, such as those in the 2.4 GHz frequency band, just like the call button panel 1010.

[0091] If some modification to the building is permitted, the operation panel may be arranged in parallel with the call button panel 1010, with the front side of the case exposed to the outside, such as in a corridor. In other words, the operation panel may be embedded inside the hotel building except for the front side of the case, and only the call button panel may be exposed to the outside from the wall of the building.

[0092] [Detailed configuration on the operation panel] As shown in FIG. 2(A), the operation panel 600 of this embodiment includes a receiving means 610 that receives radio waves for short-range communication transmitted by Bluetooth from a transmitting section (not shown) of the EV controller 200, a timer 620, and a control means 630.

[0093] The receiving means 610 receives car stop information (destination floor stop command information) from the EV controller 200 regarding the floor to which the car 1100 is to be moved, i.e., the destination floor, and upon receiving this destination floor stop command information, transmits this command information to a controller 2000 provided at the upper part of the EV tower or the like.

[0094] In addition, in the receiving means 610, when the time from when the EV door 1200 and the cage door 1100A are opened until the robot 10 gets into the cage 1100 (boarding set time Δt) and the time from when the EV door 1200 and the cage door 1100A are opened until the robot 10 in the cage 1100 exits the building corridor side (exit set time Δt, but the same as the boarding set time) are longer than the normal time set for hotel guests to get on and off, the receiving means 610 also receives and transmits / receives open time adjustment command information related to the extension of the door open time from the EV controller 200. In this embodiment, the boarding time and the exit time are set to 1.5 to 2.0 times the time t normally required for the robot 10 to move the distance from the point where it waits in front of the EV door 1200 to the point approximately in the center of the cage 1100. That is, the time is set to Δt=1.5t to 2.0t.

[0095] As for commands for the movement of the robot 10 accompanying such movement between floors, before the robot 10 boards the car 1100, the robot server 100 generates commands (boarding and alighting operation commands) for a series of boarding and alighting operations of the robot 10 at the boarding floor and the destination floor, and outputs them all at once to the robot 10. Operations of the car door 1100A and the like, including such boarding and alighting operations of the robot 10, are executed according to a timing chart as shown in Fig. 8. As the opening and closing operations of the EV door 1200 are similar to those of the car door 1100A, a description thereof will be omitted.

[0096] [Robot boarding and disembarking movements and cage door] Next, the boarding and alighting operation of the robot and the timing operation of the cage door will be explained with reference to Figures 8 to 10. For ease of understanding, it is assumed here that only one cage is installed in the hotel. First, the robot server 100 transmits a batch of boarding and disembarking operation commands to the robot 10. At the same time that the robot 10 receives these commands at time t0, the robot server 100 outputs another series of commands (not shown) to the EV controller 200. Then, a control signal corresponding to this command is transmitted from the EV controller 200 to the controller 2000 in the tower of the EV 1000 via the EVPod 400 and the control means 630 of the operation panel 600.

[0097] In EVPod 400 that receives this control signal, an internal R&P mechanism (see FIG. 7), which will be described later, immediately operates and presses the call button on call button panel 1010. As a result, basket 1100 that is stopped at another floor and in a waiting state, etc., immediately moves toward the floor whose call button was pressed.

[0098] As a result, when the car 1100 arrives at the floor where the robot 10 is waiting, the car door 1100A is immediately opened at time t1 (the EV door 1200 is also opened at almost the same time) (AC1). After that, in accordance with the command previously received, the robot 10 gets into the car 1100 within the preset boarding set time Δt (AC2, 3). Then, in accordance with the command related to the opening and closing operation already sent from the EV controller 200 to the control device 2000 via the operation panel 600, the car door 1100A and the EV door 1200 are closed at time t2 (AC4), and the car 1100 moves toward the designated floor, the third floor.

[0099] Then, when the cage 1100 arrives at the designated floor, the fifth floor, at time t3, the cage door 1100A immediately opens (AC5). Then, the robot 10 immediately receives a beacon signal broadcast from the information providing means 500 in this open state and detects the floor number on which the cage 1100 is currently stopped based on the floor ID information superimposed on the beacon signal.

[0100] Then, when the robot 10 in the cage 110 confirms that the detected floor number matches the floor number of the destination floor, it immediately exits the cage 1100 (AC6) and moves to the designated floor (AC7). Note that the exit operation time during this period is within a preset exit set time Δt.

[0101] After going through the above boarding and disembarking operations, the robot 10 can move between floors from the second floor to the third floor by its own independent operation, relying only on commands from the robot server 100. Here, the closing operation of the cage door 1100A of the cage 1100 at the destination floor at time t4 is as follows. i) In the case of getting into the basket 1100, when the robot 10 has finished getting into the basket 1100 and the door is open, the robot 10 transmits a boarding completion signal to the EV controller 200 installed near the previous floor. This boarding completion information is then transmitted to the robot server 100, and the robot server 100, receiving this information, outputs a predetermined control signal to the EVPod 400, instructing it to stop pressing the call button. ii) In addition, when the robot exits the cage at the designated floor, at the pre-reserved timing, i.e., when the cage 1100 arrives at the designated floor and the cage door 1100A is opened, a request signal for closing the cage door 1100A is sent from the robot 10 inside the cage door 1100A to the robot server 100. The mutual operations between the cage 1100, the cage door 1100A, and the robot 10 have already been described with reference to FIG. 6, so they will not be repeated here.

[0102] In addition, when the robot 10 waiting at the boarding floor gets into the car 1100, the opening operation time of the car door 1100A and the EV door 1200 of the car 1100 that has arrived at this floor does not need to be adjusted if it is the same as the time during normal EV operation. However, there are cases where boarding and exiting cannot be performed successfully within the normal opening time of these doors. Therefore, when it is necessary to adjust the opening time of the above-mentioned two types of doors to extend when getting on and off the car, in this embodiment, the opening time is adjusted by a command transmitted collectively from the robot server 100. However, even if such an adjustment to extend the opening time is made, some kind of trouble may occur in which the robot 10 cannot get on and off within the expected time, and even if the time is extended, trouble may occur in which the robot 10 cannot get on and off.

[0103] Therefore, in this embodiment, if the robot server 100 determines from the photographed data transmitted from the EV camera 300 to the robot server 100 that the photographed video for confirming the completion of boarding and the completion of exiting cannot be obtained, the robot server 100 sends a control signal to the EVPod 400 via the EV controller 200 to extend the door open time. As a result, as long as the EVPod 400 outputs the control signal, in other words, until the robot 10 completes boarding and exiting the basket 1100, the control unit 480 in the EVPod 400 continues to output a signal for rotating the motor 420.

[0104] In this embodiment, a VOD system (product name: SiTV) is adopted as a service for hotel guest rooms, and information such as the approach and arrival of the robot 10 can be displayed sequentially on the TV screen of each SiTV indoor terminal connected to a TV in each room (not shown).

[0105] [Correlated movements between EV and robot using EV system] Next, the system of the EV 1000 related to the EV system 1 according to this embodiment will be described in detail in relation to the operation and control of the robot 10.

[0106] Note that the following description will be divided into two parts: control from when the basket 1100 of EV1000 arrives at the floor where the robot 10 is located and when the robot 10 gets into the basket 1100 (hereinafter, this may be referred to as "boarding control"), and control from when the basket 1100 arrives at the floor of the specified floor after the robot 10 gets into the basket 1100 and when the robot 10 exits the basket 1100 (hereinafter, this may be referred to as "exit control"). However, in this explanation, for example, when a robot that has been performing delivery service on the third floor finishes that delivery service and moves to the next floor number that is specified, the movement of EV1000 will be explained together with the movement of the robot.

[0107] Incidentally, this EV 1000 is normally operated so that it can be freely used by guests in the hotel. On the other hand, in this embodiment, the operation is controlled for a limited period, for example, during the period when an infectious disease patient is voluntarily isolated in each hotel room, and the operation of the elevator itself is not different from the operation or use when used by normal guests, i.e., the operating conditions of stopping only at designated floors.

[0108] Therefore, no large-scale system modifications have been made to this EV 1000 for the purpose of operating or using it exclusively for the robot. In other words, no large-scale system modifications have been made by a service operator of the EV 1000, such as by operating or modifying the dedicated controller 2000 (see FIG. 2(A)) for the EV 1000. That is, in this EV 1000, only when the car 1100 arrives at a designated floor, the car door 1100A and the EV door 1200 shown in FIG. 4 are kept open for a predetermined time setting that ensures sufficient operating time for the robot 10 to get on and off.

[0109] In this embodiment, the cage door 1100A and the EV door 1200 can be kept open by continuously pressing the up / down call button for each floor. However, in the case of an operational configuration in which the cage door 1100A and the EV door 1200 are forcibly closed once in a few minutes, the time can be grasped in advance and set in the robot server 100, so that the up / down call button can be kept open. stomach The EVPod 400 performs intermittent control based on instructions from the robot server 100, such as canceling the OFF operation (canceling the pressing of the call button) and then turning the ON operation again. cormorant This may be done.

[0110] First, the boarding control from when the basket 1100 of the EV 1000 arrives at the floor where the robot 10 is located until the robot 10 boards the basket 1100 will be described with reference to FIG. 9 and other figures. For ease of understanding, a case will be described in which the current robot 10 delivers lunch boxes to people in self-isolation in each room on the second floor. After the delivery service of the lunch boxes and other items on the second floor is completed, the robot 10 receives instructions from the robot server 100 via wireless communication as to which floor it should move to next, and moves to the specified floor.

[0111] (I) Boarding Control: 1) First step (SA1) After completing a required task, for example delivering items such as lunch boxes to each room on the second floor, the robot 10 moves from the floor where it was currently active, for example the second floor, to the next designated floor to perform the specified task, and moves to an elevator waiting area (EV hall) where the EV door 1200 of the EV 1000 is located. 2) Second step (SA2) The robot 10 that has moved to the front of the EV door 1200 of the EV 1000 stops in front of the EV door 1200. Then, the robot 10 can receive the floor ID, that is, the floor number information specific to each floor corresponding to the floor number of this floor, broadcasted by the information providing means 500 (short-distance wireless communication by Bluetooth) from the information providing means 500 installed at a position facing the front of the nearby EV door 1200. Note that the floor ID information of this floor has already been received by the robot 10 when moving from the previous floor to this floor and the floor number here has already been confirmed, so there is no particular practical benefit to the floor ID information corresponding to this floor. However, by entering an area where the robot 10 can receive this floor ID information, the robot 10 can confirm that it has moved close to the EV door 1200 even if it is a place before arriving at the EV door 1200. Also, when the robot 10 gets into the basket 1100, the floor is not determined by the floor ID by the information providing means 500, but this floor determination may be performed. In other words, when a mismatch occurs between the floor information held within the robot 10 and the floor information (floor ID) detected by the beacon from the information providing means 500, the floor information can be corrected by reporting the error to the robot server 100, the information providing means 500, etc. 3) Third step (SA3) Therefore, when the robot 10 itself detects that it has moved close to the EV door 1200, it immediately notifies the EV controller 200 by wireless communication such as WiFi. Note that the communication between the robot and the information providing means 500 may be substituted by a communication method using RFID (Radio Frequency Identification), which has a more stable radio wave reception condition, instead of the short-distance wireless communication using Bluetooth. 4) Fourth step (SA4) The information providing means 500 also has a virtual goal (hereinafter referred to as "VG") setting function, and since this VG is set near the EV door 1200, the information providing means 500 can also detect that the robot 10 has come near the EV door 1200. Therefore, when the information providing means 500 detects that the robot 10 has come near the EV door 1200, the information providing means 500 also notifies the EV controller 200 by wireless communication such as WiFi. Furthermore, in the present invention, when the robot moves to the EV door or just before it reaches the EV door, the robot may transmit a contact signal (waiting signal) to the robot server to inform the robot server that the robot is waiting for the basket. 5) Fifth step (SA5) The EV controller 200 that receives this detection signal sends the arrival confirmation information to the robot server 100. Near The signal is transmitted via long-distance wireless communication. 6) Sixth Step (SA6) As a result, the robot server 100 transmits information about the next specified floor to the robot 10 so that the robot 10 can work on the next floor. Here, it is assumed that the robot 10 next receives a work command to deliver lunch boxes to the self-infected people staying in each room on the fifth floor, similar to the work on the second floor. Note that the robot server 100 does not necessarily have to instruct the robot 10 to perform the same work as the lunch box delivery work on the second floor, and may instruct the robot 10 to, for example, collect trash generated by each guest. 7) Seventh step (SA7) The robot 10 that receives this floor information receives information about the designated floor number. 8) 8th step (SA8) The robot server 100 transmits a command to the EV controller 200 to operate the EVPod 400, and at the same time transmits a command to the receiving means 610 of the operation panel 600 in a lump sum for stopping the car 1100 at the floor number to which the robot 10 is to move. Note that the command to the receiving means 610 of the operation panel 600 may be sent via the EV controller 200, rather than directly from the robot server 100. Furthermore, if necessary, a command to adjust (extend) the opening time of the car door 1100A and the EV door 1200 is also transmitted to the receiving means 610 of the operation panel 600 at the same time. 9) 9th step (SA9) On the other hand, the EV controller 200 that receives the command from the robot server 100 transmits a control signal to the EVpad 400 by short-range wireless communication (Bluetooth). At the same time, the receiving means 610 of the operation panel 600 that receives this command immediately outputs a control signal to the controller 2000 in the control room of the EV tower to stop at the stopping floor of the car 1100 and open / close the EV door 1200 and the car door 1100A. 10) 10th step (SA10) Upon receiving this control signal, the EVPod 400 outputs a predetermined pulse to the motor 420 built in it, and drives the motor 420 by a predetermined number of pulses (number of rotations) in either the forward or reverse specified direction. This causes the pinion 430 attached to the motor 420 to rotate in the same direction, and the rack 440 meshing with it moves in the specified direction, so that one of the pushers 450 is pushed out by the contact action with the pusher 450 accompanying the movement of the rack 440, and the button in the specified direction (here, the upward call button UB) of the call button on the call button panel 1010 facing it is pressed. Note that in this embodiment, either the upward or downward call button may be pressed, and what is important is that the basket 1100 moves to the floor where the robot 10 is waiting. 11) 11th step (SA11) This causes car 1100 in elevator 1000 to move to the designated floor. 12) 12th Step 10 (SA12) Then, when the cage 1100 arrives at this floor, the cage 1100 stops. 13) 13th step (SA13) Under control of an elevator controller provided in the elevator body, a car door 1100A provided on the car 1100 itself as shown in FIG. 4 and an EV door 1200 on the floor on the building side facing the car door 1100A are also opened. 14) 14th step (SA14) The EV door camera 300 captures an image showing that the EV door 1200 is in an open state, and outputs the image to the EV controller 200. 15) 15th step (SA15) The robot 10 waiting in front of the EV door 1200 on this floor confirms with the obstacle detection sensor 13 provided on the robot 10 that the EV door 1200 is open, that the basket 1100 is behind it, and that the basket door is also open. 16) 16th Step (SA16) This means that Robot 1 0 12 open elevator doors 00 Then, the passenger passes through the cage door and enters cage 1100. 17) 17th Step (SA17) When the EV camera 300 (or the information providing means 500 ) detects that the robot 10 has completely entered the basket 1100 , this information is transmitted to the robot server 100 . 18) 18th Step (SA18) Upon receiving this information, the robot server 100 confirms that the robot 10 has entered the cage 1100 and operates the EV button. vessel The EV controller 200 issues a command to the EV controller 200 to terminate the pressing of the call button by the EVPod 400. 19) 19th Step (SA19) E that receives a signal from the EV controller 200 VP od400 ends the call button press operation. 20) 20th step (SA20) After that, the EV door and car door close, and the car 1100 moves upward toward the upper floor.

[0112] (II) Control from the cage to the exit after boarding: Next, the exit control from when the robot 10 gets into the cage 1100 until the cage 1100 arrives at a designated floor and the robot 10 exits the cage 1100 will be described with reference to FIG. Here, the cage 1100 in which the robot 10 is riding is set up in a system that stops only on a designated floor, like a normal EV, and the cage door 1100A and the EV door 1200 are set up to open on that floor for a sufficient time for the robot 10 to pass through. That is, by a command sent all at once from the robot server 100, the robot 10 that has entered the cage 1100 from the EV door 1200 on the third floor moves together with the cage 1100 to an upper floor, passes through the opened cage door 1100A and EV door 1200, and can move to the designated floor.

[0113] 1) First step (SB1) During the boarding operation, based on the control signal output from the control means 630 of the operation panel 600 to the controller 2000 in the control room in the EV tower, the controller 2000 that received this control signal causes the hoisting motor 3000 and the opening and closing device 4000 of the EV door and car door to perform a series of operations at the timing shown in Fig. 10. That is, when the car 1100 stops at the designated stopping floor, the opening and closing operation of the EV door 1200 and the car door 1100A is immediately performed. Also, if necessary, at the same time, an adjustment signal for the opening and closing time of the EV door 1200 and the car door 1100A is also output to the controller 2000 directly from the robot server 100 (or via the EV controller 200). As a result, the controller 2000 also performs control for adjusting the opening time of the opening and closing device 4000 of the EV door and car door. 2) Second step (SB2) Therefore, the robot 10 that has entered the cage 1100 moves toward the upper floors as the cage 1100 moves upward, and the cage 1100 rises to the fifth floor, which is the designated destination floor, and when the cage 1100 has reached this fifth floor position, the upward movement of the cage 1100 stops. 3) Third step (SB3) Thereafter, the cage door 1100A is opened, and the EV door 1200 directly opposite and facing the cage door 1100A is also opened. 4) Fourth Step (SB4) Therefore, the robot 10 in the cage 1100 can receive information regarding the floor ID by receiving radio waves from the information providing means 500 constituting a beacon installed on the floor in front of the EV door 1200 on the 5th floor. 5) 5th step (SB5) As a result, the robot 10 confirms that the floor on which the basket 1100 is stopped is the fifth floor, and determines that this is the floor to exit. 6 ) No. 6 Step (SB 6 ) Here, the EV camera 300 on the 5th floor photographs the floor which is the EV waiting area (EV hall) around the EV door 1200, and for double safety, this EV camera 300 also photographs the open state of the cage door 1100A and the EV door 1200 to capture that they are open, and transmits this data directly to the robot server 100 via WiFi communication (or LAN). 7 ) No. 7 Step (SB 7 ) The robot server 100 transmits the photographed information of the floor received from the EV camera 300 to the robot 10. 8) 8th Step (SB8) As a result, the autonomous driving control unit 17 of the robot 10 can confirm that the EV door 1200 and the cage door 1100A are open not only by the obstacle sensor 13 of the robot 10 itself, but also by the photographic information from the EV camera 300. 9) 9th Step (SB9) As a result, the robot 10 immediately drives the movement motor 11 to pass from inside the cage 1100 through the cage door 1100A and the EV door 1200 to exit the EV 1000, and enters and moves to the designated floor, the fifth floor, completing the movement operation to the floor. In addition, Control until the robot 10 completes its movement to the designated floor We will explain in detail about this. i) While the robot 10 is in the basket 1100 (predetermined position) in the EV 1000, the robot 10 continues to measure the distance to the center of the EV door 1200 using an obstacle sensor (2D-LiDAR) built into the robot 10. When this distance exceeds a certain threshold and the robot receives the strongest Bluetooth (beacon) radio wave from the destination floor, it determines that the "EV door at the destination floor is open" and starts moving forward. During this time, the call door button for the destination floor is kept ON by the EVPod 400, but the controller 2000 in the EV tower may be controlled by a command from the robot server 100. Also, while the robot 10 is inside the EV, it is difficult to communicate with external devices or it is completely impossible to make any contact, so the robot 10 that has entered the EV cage 1100 does not need to communicate with external devices. For this reason, the robot 10 can easily avoid obstacles and detection Using only sensor 13 and Bluetooth radio waves, the robot itself determines when it has reached the destination floor and moves to that floor. ii) When the robot 10 exits the elevator car 1100 and arrives in front of the elevator door 1200 on the destination floor, it notifies the robot server 100 that it has arrived in the corridor (elevator hall) in front of the elevator door 1200 on the destination floor. iii) Then, the robot server 100 instructs the EV controller 200 to stop pressing the call button of the EVPod 400 at the destination floor. At that time, even if the robot 10 is still unable to communicate via WiFi, the destination floor EV door button will be turned off after a certain period of time has elapsed due to the timer operation. 10 ) 10 Step (SB 10 ) In this way, after the robot 10 in the cage 1100 exits through the open cage door 1100A and the EV door 1200, the EV door 1200 and the cage door 1100A are closed. Then, based on the next command, the robot 10 performs a further upward or downward movement.

[0114] In the explanation so far, EV1000 is used to move from the second floor to the fifth floor where the required work will be performed, but of course, robot 10 can freely move to each floor using basket 1100, and can also freely move downstairs.

[0115] [Effects of EV system] Therefore, in this embodiment, as shown in FIG. 4, EV1000 is an ordinary elevator normally used by hotel guests, but no large-scale system changes have been made to this EV1000, particularly to controller 2000 which is provided as equipment in the elevator system, other than the operation of stopping the EV at each floor.

[0116] Then, by simply placing the robot server 100, EV controller 200, EV camera 300, etc., which constitute the EV system 1 of this embodiment, on the floor (if a recess such as a niche is provided in the wall facing the EV door, they may be installed there), and attaching the EVPod 400 to the call button panel 1010 with an appropriate means such as a special double-sided tape with strong adhesive power, the robot 10, which can move around the floors, can freely move to each floor. Note that the method of attaching the EVPod 400 to the call button panel 1010 is not particularly limited to the means in this embodiment, and any method that can reliably and stably execute the pressing operation of the call button may be used.

[0117] In addition, in this embodiment, the robot does not need to be a humanoid robot with hands and arms or a bipedal robot, but can be one that can simply move on the floor or has a simple structure that can move on its own and can carry a work target. Therefore, in operating the elevator control system of this embodiment, not only can costs be reduced, but there are almost no obstacles to its introduction, making it possible to provide a highly versatile elevator control system.

[0118] In this embodiment, since the robot can move between floors in a multi-story building by simply using an EV system with a simple configuration, there is no need to make large-scale system modifications to normal elevator equipment, and there is no need for equipment such as elevators dedicated to robots, and therefore there is no need for large capital investments or long-term equipment installation work.

[0119] Moreover, the applications are not limited to a multi-storey hotel as in the present embodiment. For example, in hospitals, nursing homes, logistics warehouses, factories, companies, and other multi-storey buildings, various types of delivery services, including lunch boxes to designated locations on each floor, garbage disposal services such as collection of garbage bins for garbage collection and placing the empty garbage bins back to their original locations, travel guidance services to designated locations for guests, sick people, visitors, etc., collection and delivery services such as collection and delivery of documents to designated departments on each floor in a multi-storey building, cleaning services for cleaning each floor, and patrol security services for patrolling each floor late at night can be realized by introducing the necessary equipment and systems into the existing building.

[0120] Furthermore, EV system 1 of this embodiment can be used with two or more self-running robots 10 instead of one as in this embodiment, making it highly versatile in this respect as well.

[0121] The present invention is not limited to the above-described embodiments, but also includes configurations in which the configurations disclosed in the above-described embodiments are substituted with each other or the combination is changed, known inventions, and configurations in which the configurations disclosed in the above-described embodiments are substituted with each other or the combination is changed, etc. In other words, the technical scope of the present invention is not limited to the above-described embodiments, but extends to the matters described in the claims and their equivalents. [Explanation of symbols]

[0122] 1 Elevator control system (EV system) 10 Unmanned delivery robot (robot) 11 Traveling mechanism (motor) 12 Camera (Robot Camera) 12A Front camera 12B Rear camera 13 Obstacle detection sensor 14. Floor number confirmation means (beacon oscillator) 15 WiFi communication device 17 (Autonomous Driving) Control Unit 100 Robot Control Server (Robot Server) 200 Elevator Controller (EV Controller) 300 EV surveillance camera (EV camera) 400 EV button operation device (EVPod) 410 Receiving unit 420 (Pulse) Motor 430 Pinion 440 Rack 440A Taper Cam 450 Pusher 460 Button light detection sensor 480 Control Unit 500 Means of providing information 600 Operation Panel 610 Control Means 700 Network 1000 Elevator (EV) 1010 Call Button Panel 1100 Basket 1200 EV Door 2000 Controller 4000 (EV door and cage door) opening and closing device BTL Battery CTR Controller DB Down Call Button (Call Button) R&P Rack and pinion mechanism UB Upper call button (call button)

Claims

1. An elevator control system for allowing a robot capable of moving on floors in a multi-story building to get into an elevator car and move to another floor, comprising: a robot server provided within the building for controlling the robot; an information providing means installed on each floor so that the robot can detect that the elevator car has arrived at a destination floor, which is a designated floor; An EV controller provided on each floor for receiving a command issued from the robot server regarding the movement of the car to the destination floor; In addition to providing a control unit that performs control such that the robot exits from the cage when it is confirmed that the robot has arrived at the destination floor by receiving information from the information providing means; an EV button operation device which is operated by the control of the EV controller which receives a command from the robot server and operates a call button for calling the car; The EV button operation tool has a mechanism for mechanically performing the pressing operation of the call button. An elevator control system comprising:

2. The EV button operation device is configured to be capable of issuing a command to the EV controller to terminate the pressing operation of the call button by the EV button operation device when the exit operation of the robot from the cage is confirmed.

2. The elevator control system of claim 1.

3. The elevator is configured to stop only at a designated floor, and a car door provided on the car and an elevator door provided on the building side are automatically opened and closed, The robot is provided with a floor number confirmation means for confirming the floor number of the floor to which the car has moved by receiving information on the floor ID broadcast from the information supply means in the car in which the robot is riding, when both the car door and the elevator door are opened; The control unit of the robot is configured to confirm that the detected floor number of the current floor of the cage coincides with the designated destination floor, and then to control a traveling mechanism provided in the robot to cause the cage to exit.

3. The elevator control system according to claim 1 or 2.

4. The EV controller is configured to receive a command from the robot server, collectively issue commands for controlling the stopping operation of the car at the destination floor and the opening and closing operations of the elevator doors and the car doors, and to issue commands for adjusting and controlling the opening times of the car doors and the elevator doors as necessary.

4. The elevator control system according to claim 3.

5. an operation panel provided with a control means for generating a control signal for controlling the stopping operation of the car at the destination floor and the opening and closing operation of the elevator doors and the car doors based on the command from the EV controller, and outputting the control signal to a controller in the EV tower of the multi-story building; the operation panel is provided in a call button panel on which the call buttons are arranged near the elevator doors on each floor; 5. The elevator control system according to claim 4.

6. When the robot moves to the elevator door or immediately before the elevator door, the robot transmits a communication signal (waiting signal) to the robot server to inform the robot server that the robot is waiting for the car; and The robot server is configured to, when receiving the communication signal from the robot, output from the robot server to the EV controller a command signal regarding calling the car and stopping the car at a destination floor; The EV controller is configured to transmit a control signal for starting the operation of the EV button operation tool to a receiving unit of the EV button operation tool and to transmit the control signal to a control means of the operation panel.

6. An elevator control system according to claim 5.

7. the robot server of the robot is configured to transmit, to the robot, in a time series, a group of driving commands for the robot to perform autonomous driving when moving to the elevator door on each floor; An elevator control system according to any one of claims 3 to 6.

Images