Elevator system with queueing function for robot passage

Abstract

In an elevator installation (1) having an elevator control system (40) and an elevator car (22) controlled by the elevator control system (40), the elevator control system (40) is configured to receive elevator calls from a person (4) via a call terminal (12) and from a robot (2) via a wireless transceiver (10) for communication with the elevator control system (40). The elevator control system (40) determines a current transport capacity of the elevator installation (1), the transport capacity indicating a current utilization level of the elevator installation (1). An elevator call originated from the robot (2) via the wireless transceiver (10) is recognized by the elevator control system (40), and the elevator call from the robot (2) includes a priority level (PL) set by a dispatcher of the robot, the priority level (PL) being one of a high priority range, a medium priority range, and a low priority range, and the elevator call indicates a landing floor. If the priority level is set to the medium priority range and the current transport capacity is lower than a first threshold, or if the priority level is set to the low priority range and the current transport capacity is lower than a second threshold, the allocation of an elevator call originating from the robot (2) to an elevator car (22) is delayed.

Description

Technical Field

[0001] Various embodiments of the present disclosure generally relate to elevator systems and their operation. More particularly, the various embodiments described herein relate to elevator systems that can be used by people and one or more autonomous mobile devices, and methods for controlling the operation of an elevator system for accommodating people and autonomous mobile devices.

Background Art

[0002] An elevator system can be equipped to operate according to a conventional up-down control system that employs a floor terminal having up and down buttons for calling an elevator car by inputting a desired direction of movement of a passenger. After a passenger enters an elevator car assigned to service the call, the destination floor is input on the car operation panel inside the car. An alternative elevator system may be equipped to operate according to a destination call control system that employs a floor terminal where a person can input a desired destination floor. These elevator systems are typically used to transport people or goods from a landing floor in a building to a destination floor.

[0003] In recent years, there has also been an increasing need to transport autonomous mobile units or advanced robots. Such robots can perform one or more tasks within a building that require vertical transportation of the robot from one floor to another. These tasks may include transporting goods, cleaning, guiding and / or assisting people. To address the need to transport robots, various concepts are known. For example, U.S. Patent No. 8,958,910 discloses an elevator system having a detection unit that detects an available area within an elevator car and a determination unit that determines whether a robot can board the elevator car based on information regarding the size and location of the detected available area. The robot boards the elevator car only when the determination unit determines that boarding is possible.

[0004] Even if these approaches generally enable robots to use elevator facilities, determining the available space within the elevator car by the robot slows down the operation of the elevator facilities. Therefore, alternative technologies that do not affect the operation of the elevator facilities are required.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Means for Solving the Problems

[0006] Therefore, one aspect of such an improved technology includes an elevator control system and a method of operating elevator facilities having an elevator car controlled by the elevator control system to transport people and / or robots from a landing floor to a destination floor within a building. The elevator control system is configured to receive elevator calls from a person via a calling terminal and from a robot via a wireless transceiver for communicating with the elevator control system. The current transport capacity of the elevator facilities is determined by the elevator control system, and the transport capacity indicates the current usage level of the elevator facilities. An elevator call transmitted from a robot via the wireless transceiver is recognized by the elevator control system, and the elevator call from the robot includes a priority level set by a dispatcher of the robot. The priority level is one of a high priority range, a medium priority range, and a low priority range, and the elevator call indicates a landing floor. When the priority level is set to the medium priority range and the current transport capacity is lower than a first threshold, or when the priority level is set to the low priority range and the current transport capacity is lower than a second threshold, the allocation of the elevator call transmitted from the robot to the elevator car is delayed.

[0007] Another aspect includes an elevator facility having a drive, an elevator car configured to transport people and / or robots from a landing floor to a destination floor within a building, and an elevator control system coupled to the drive and configured to receive elevator calls from people via a call terminal and from robots via a wireless transceiver. The control system determines the current transport capacity of the elevator facility, which indicates the current usage of the elevator facility, and is configured to recognize elevator calls transmitted from robots via the wireless transceiver (10). The elevator calls from the robots include a priority level set by a dispatcher of the robots, the priority level being one of a high priority range, a medium priority range, and a low priority range, and the elevator calls indicating the landing floor. The elevator control system is configured to delay the allocation of elevator calls transmitted from the robots to the elevator car when the priority level is set to the medium priority range and the current transport capacity is lower than a first threshold, or when the priority level is set to the low priority range and the current transport capacity is lower than a second threshold.

[0008] The technology described herein provides that the elevator facility can be used by both humans (persons) and robots without the robots adversely affecting the efficient and convenient transportation of people. According to the technology described herein, the use of the elevator facility by one or more robots is scheduled based on the current elevator traffic, the available transport capacity of the elevator facility, and the priority level of the robots. Considering the current traffic by people, the robot transportation may be delayed and held in a queue as necessary so that the human elevator traffic is not affected or is affected minimally.

[0009] In one embodiment, an elevator call transmitted from a robot includes service condition information specifying a predetermined waiting time. The elevator call transmitted from the robot is assigned to an elevator car when the predetermined waiting time elapses regardless of the first threshold or the second threshold. Thereby, an operator of the robot can customize call requirements for the robot and its articles and / or services. For example, when the task of the robot (e.g., execution of a task such as delivery or cleaning of an article) is not urgent and can wait for a certain period of time, the operator can specify the maximum waiting time. In one embodiment, this can be applied by building management that attempts to optimize the movement of all robots in the building, not just the passage of a single robot where it may be attractive to adjust the movement of several robots in the building and set a high priority level.

[0010] Furthermore, in one embodiment, an elevator call transmitted from a robot is held in a waiting queue until a predetermined waiting time elapses. For example, when the task of the robot can wait for a certain period of time, the operator can set a low priority level for the elevator call of the robot and specify in the service conditions that, for example, if the elevator call is not executed within 5 hours, the elevator of the robot must be treated as a high priority. Then, regardless of the transport capacity, the elevator call of the robot is assigned and executed.

[0011] In one embodiment, when an elevator call is transmitted from a person or a robot having a priority level set in a high priority range, the elevator call is immediately assigned to an elevator car by an elevator control system. This contributes to the technical objective of avoiding the robot from adversely affecting the efficient and convenient transportation of people as described above.

[0012] In one embodiment, the technology described herein provides for the robot-specific execution of a (robot) call assigned from a robot. This includes at least one of notifying the robot about the elevator car, controlling the elevator door depending on whether the elevator call originated from the robot includes a solo movement requirement, instructing the robot to board the elevator car, and verifying the robot's boarding. For example, if the robot call includes a solo movement requirement, the elevator door is kept closed until the robot is at the assigned elevator and responds affirmatively to its presence. If solo movement is not required, the elevator door remains open. In either case, when the elevator door opens, the elevator control system instructs the robot to enter the elevator car. In one embodiment, the robot may respond affirmatively to boarding the elevator car. This allows verification of whether the robot has successfully boarded the elevator car, after which the elevator facility can complete its travel according to the elevator call.

[0013] The technology described herein provides flexibility regarding thresholds. In one embodiment, the first threshold and the second threshold are values between 0% and 100% of the maximum transport capacity, and the first threshold is a lower value than the second threshold. In one embodiment, the first threshold is set at approximately 25% of the maximum transport capacity, and the second threshold is set at approximately 50% of the maximum transport capacity.

[0014] The novel features and characteristics of this technology are set forth in the following claims. However, various embodiments of the technology, as well as other features and advantages, are best understood by reading the following detailed description in conjunction with the accompanying drawings.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Mode for Carrying Out the Invention

[0016] FIG. 1 is a schematic diagram showing an exemplary situation in a building having elevator equipment 1 for use by a person 4 and an autonomous mobile unit 2 (hereinafter referred to as robot 2). The building may be an apartment, an office building, a commercial / shopping center, a hotel, a sports arena, an airport terminal, or any other structure suitable for human habitation or long-term stay. The exemplary building shown in FIG. 1 is used herein to illustrate various embodiments of the technology; it has several floors L0, L1, and each floor provides access to an elevator car 22 that can be moved within an elevator shaft 20 by a motor 26 under the control of an elevator control system 40. Floor L0 may be the lobby or basement of the building. The building shown in FIG. 1 is shown as having two floors L0, L1, but in general, it is contemplated that the building may have multiple floors.

[0017] Figure 1 shows two robots 2 and three persons 4 on floor L0, and one robot 2 and two persons 4 on floor L1. Persons 4 and robot 2 can move from one floor L0, L1 to another floor L0, L1 using the elevator facility 1. According to the technology described herein, the scheduling of the transportation of persons 4 and robot 2 depends on the origin of the elevator call (i.e., from person 4 or from robot 2), the determined current transportation capacity Tcap of the elevator facility 1, the priority level PL set for the elevator call from robot 2, and any additional information; these factors will be described in more detail below. Briefly, in the exemplary situation shown in Figure 1, the elevator control system 40 determines the current transportation capacity Tcap of the elevator facility 1. When robot 2 needs elevator service, robot 2 initiates an elevator call to be sent to the elevator facility 1, and such a robot call includes the priority level PL set by the dispatcher of robot 2. The priority level PL can be in any of the high priority range, medium priority range, or low priority range. The elevator control system 40 delays the allocation of the robot call to elevator car 2 under certain specific situations, such as when the priority level PL is set in the medium priority range and the current transportation capacity Tcap is higher than the first threshold (e.g., 25%), or when the priority level PL is set in the low priority range and the current transportation capacity Tcap is higher than the second threshold (e.g., 50%). Thereby, the use of the elevator facility 1 by one or more robots can be intelligently scheduled. Considering the current passage of persons 4, the transportation of robot 2 is delayed so that the human elevator passage is not affected or is affected only minimally. One embodiment of such a method of operating the elevator facility 1 will be described below with reference to Figure 3.

[0018] Referring to the more structural aspects of the elevator facility 1, it is contemplated that a particular embodiment of the elevator facility 1 may include several elevator cars 22, which may be organized into, for example, one or more elevator groups. The elevator facility 1 may be configured as a traction elevator (as shown in the figures), a hydraulic elevator, or any other type of elevator facility (e.g., a self-propelled elevator car with or without ropes). Further, it is contemplated that the elevator facility 1 may be equipped to operate according to a particular call control technology, i.e., a conventional up / down control system or a destination call control system, as described above. Thus, the call terminals 12 on floors L0 and L1 may be equipped with, for example, up / down push buttons to enable input of the moving direction; in that case, the elevator car 22 is provided with a call terminal 32 that enables input of the destination floor after a person 4 has entered the elevator car 22. Also, in relation to the destination call control system, the call terminals 12 on floors L0 and L1 may be equipped with, for example, several push buttons or a graphical user interface (GUI) of a touch screen to enable input of the destination floor; in that case, the call terminal 32 of the elevator car 22 is configured such that a person 4 after boarding can, for example, facilitate or delay the closing of the elevator door, but cannot input the destination floor.

[0019] Each robot 2 may be based on, for example, commercially available robot technology manufactured by ST Engineering Aethon in the United States. Such a robot 2 typically has a power source (e.g., a rechargeable battery), a particular drive technology (e.g., a set of drive wheels), sensors (IR, radar, optical), navigation equipment, and, depending on its intended use, one or more actuators for an arm or tool, and / or one or more receptacles for receiving and transporting articles according to a specified payload. General operations of the robot 2, such as those related to navigation, are known to those skilled in the art of robotics.

[0020] According to the technology described in this specification, the robot 2 has an interface 8 through which an operator of the robot 2 can input the destination to which the robot 2 is to move (for example, floor L0, L1 or a specific area of the floor (for example, a room)); this interface 8 is hereinafter referred to as the destination interface 8. The destination can be input in one of various ways, for example, by selecting and / or inputting an identifier (for example, name and / or number) assigned to the floor or room, by inputting the building-specific or GPS coordinates of the destination, or by selecting the destination from the displayed floor plan or pull-down menu of the building. In the illustrated embodiment, the robot 2 has an interface 6 through which the operator can set the priority level; this interface 8 is hereinafter referred to as the priority interface 6. The priority level can be input by a numerical value (for example, the lowest priority is PL = 1, the highest priority is PL = 6, or another range) or one or more words (for example, "low", "medium", "high").

[0021] The destination interface 8 and the priority interface 6 may each have a touch screen and associated electronic circuitry for operating the touch screen, and each touch screen may be configured to display a graphical user interface accessible to the operator. For example, while the operator is at the location of the robot 2, the operator may manually input the destination and the priority level, for example, by touching the touch screen. In another embodiment, it is contemplated that the destination interface 8 and the priority interface 6 may be equipped with a keyboard for inputting the destination and the priority level.

[0022] In another embodiment, at least one of the destination interface 8 and the priority interface 6 may be configured to be inputtable via remote control. According to one embodiment, the operator may carry a wireless remote control device (e.g., a dedicated specific-purpose device or a smartphone having a dedicated software application (app)) for communicating with the robot 2. Further, the remote input may also be implemented via a building management system 34 that communicates with the robot 2 via a communication network 36. In that embodiment, for example, the operator may be located in the building or at the central office or control room of the remote building management system.

[0023] As shown in the embodiment of FIG. 1, the communication network 36 interconnects the calling terminal 12, the elevator controller 28, and the building management system 34. The communication network 36 can use communication technologies for wired-based communication and / or wireless communication. In the illustrated embodiment, the floors L0, L1 are provided with radio frequency (RF) transceivers 10 (TX / RX) coupled to the communication network 36. Each transceiver 10 has an antenna 13 and may be installed in a housing together with the calling terminal 12. The transceiver 10 may be regarded as an interface between the person 4 and the elevator facility 1 and may enable the person 4 to wirelessly input an elevator call. For this purpose, the person 4 may carry, for example, a smartphone that executes a dedicated app for communicating with the elevator facility 1. It is also contemplated that the person 4 may communicate with the elevator facility 1 using the calling terminal 12.

[0024] In elevator facility 1, the positions of the calling terminal 12 and the transceiver 10 are "known", and for example, they may be documented and stored in relation to the floor plan of the building. In one embodiment, the communication network 36 may include a wired-based communication bus. Communication via such a communication bus may follow LON, BACnet, or other serial bus protocols. Any other known techniques for communication via a wired network may be used. Communication between connected entities such as the calling terminal 12, the transceiver 10, and the elevator control system 40 may use bus addresses. In one embodiment, unique identifiers (e.g., device codes, MAC addresses, IP addresses) are assigned to each of these entities. These embodiments enable the elevator control system 40 to identify one or more entities involved in communication and thus determine the location of the entities involved.

[0025] The transceiver 10 can be regarded as an interface between the robot 2 and the elevator facility 1, enabling the robot 2 to communicate wirelessly with the elevator facility 1. The robot 2 has an RF transceiver-based communication module, and in FIG. 1, only the antenna 14 thereof is shown. In one embodiment, a unique identifier (e.g., device code, MAC address, or phone number) is assigned to the robot 2. The RF communication module of the robot transmits the identifier when communicating with the elevator facility 1 and / or the building management system 34, enabling these entities to assign received signals or messages (elevator calls) to the robot 2. In one embodiment, such communication is contemplated to be performed via the transceiver 10 as described above. The elevator control system 40 can identify, for example, the transceiver 10 and the robot 2 (e.g., on which floors L0, L1 the robot 2 is located). Similarly, the elevator facility 1 and / or the building management system 34 can address signals or messages to the robot 2 using the identifiers of the transceiver 10 and the robot 2.

[0026] The elevator control system 40 includes an elevator control function 28 and a queue control function 30. The configuration of the elevator control function 28 depends on the call control technology (up / down control or destination call control) applied in the elevator facility 1. For example, as is known to those skilled in the art, it includes allocating the received elevator calls to the elevator car 22 and appropriately controlling the movement of the allocated elevator car 22. It is contemplated that the elevator control system 40 may include a group control function when the elevator facility 1 includes a group (or bank) of elevators, and each group includes, for example, 4, 6, or 8 elevators corresponding to 4, 6, or 8 elevator cars 22 respectively. The queue control function 30 is configured to adjust the time of elevator calls or executions transmitted from the robot 2. For example, when there is a lot of traffic by people 4, the current transport capacity available to provide additional elevator calls may decrease. In such a case, elevator calls from people 4 are prioritized over elevator calls from the robot 2; elevator calls from the robot 2 are held in the queue under the control of the queue control function.

[0027] Figure 2 shows exemplary elevator calls that may be made according to call control technology in the situation shown in Figure 1. Calls transmitted from robot 2 are called robot calls 2C, and each robot call 2C includes information regarding, for example, high, medium, or low priority, as will be described in more detail later. This information is hereinafter referred to as "priority level PL", and thus, reference may also be made to "robot call 2C including priority level PL". In certain embodiments, robot call 2C may include additional information, such as a set period for executing robot call 2C, as will be described in more detail later. The additional information is hereinafter referred to as "service condition ToS"; thus, reference may also be made to "robot call 2C including one or more service conditions ToS". In the illustrated embodiment, calls transmitted from person 4 may be, for example, hall calls 12C via call terminal 12 (or a smartphone communicating with transceiver 10), and / or car calls 32C via call terminal 32 within elevator car 22. If elevator facility 1 includes a destination call control system, usually, car call 32 does not exist.

[0028] Elevator control system 40 receives one or more of these elevator calls via communication network 36 and processes them according to the techniques described herein. To that end, elevator control system 40 includes an elevator controller 28 configured to execute various processing functions, the processing functions including algorithms used therefor and being contemplated to depend on call control technology implemented in elevator facility 1. This processing includes, for example, determining traffic volume based on the number of elevator calls within a certain time period, determining floors L0, L1 from which elevator calls are transmitted (these floors L0, L1 can be regarded as landing floors), determining destination floors, allocating one or more elevator cars 22 to service elevator calls, operating motor 26 according to call allocation to execute elevator calls, and the like. These processing functions and algorithms are known to those skilled in the art.

[0029] Regarding the elevator facility 1, a transport capacity Tcap is defined as a parameter representing to what extent the elevator facility 1 can be utilized. Here, the transport capacity Tcap is a value between 0% and 100%. For example, during the night mode or standby mode, the available transport capacity is approximately 100%, that is, because there are no other calls to be serviced or only a few, and / or the elevator car 22 is empty or not loaded up to its full weight, the elevator calls can be serviced without delay. As the transport capacity Tcap decreases, the utilization rate of the elevator facility 1 increases, that is, the traffic volume increases, and not all elevator calls are serviced almost simultaneously. As a result, it may take time for the elevator calls to be serviced, and the waiting time may become longer. For example, when the transport capacity Tcap is 0%, the maximum number of people 4 have boarded the elevator car 22 (that is, the elevator car 22 is full), the elevator car 22 is loaded up to its full weight, and / or elevator calls for the maximum number of people 4 and / or up to its full weight have already been allocated to the elevator car 22.

[0030] Determining the transport capacity Tcap is an ongoing process within the elevator facility 1 and is performed, for example, at regular intervals and / or after receiving an elevator call or servicing an elevator call. The elevator control system 40 may use the traffic volume to determine the transport capacity Tcap. The elevator control system 40 may further use information obtained from a load measurement system installed in the elevator car 22. The load measurement system determines whether the elevator car 22 is weighted and to what extent. For example, this can determine whether the elevator car 22 is empty, at its weight limit, or in between.

[0031] Having understood the general structure of the elevator facility 1 and specific features of its functions described with reference to FIG. 1-2, referring to FIG. 3, the processing of various elevator calls will be described. In connection with the description of FIG. 3, specific objectives and advantages of the technology described in this specification are disclosed. For example, it provides a reliable and efficient operation of the elevator facility 1 to process elevator calls from a person 4 and a robot 2, and provides improved service quality for both the person 4 and the robot 2.

[0032] FIG. 3 shows a flowchart of multiple steps of an embodiment of a method of operating the elevator facility 1 to achieve at least some of these objectives. In another figure of the flowchart, it is contemplated that some of the steps shown may be integrated into a single step or divided into several separate steps. Further, it is contemplated that the person 4 and the robot 2 are permitted to move within the building and access floors L0, L1. If there is a need to control access, it is contemplated that the building and / or the elevator facility 1 may be configured to control access to the building, floors L0, L1 and / or the elevator car 22. Further, it is contemplated that the person 4 inputs an elevator call using the call terminal 12 on floors L0, L1, and the robot 2 is within the wireless range of the transceiver 10 and communicates wirelessly with the elevator facility 1. It is also intended that the elevator facility 1 responds to the actions of the robot or the person and executes corresponding tasks. Therefore, the method of operation is executed by the elevator facility 1. The exemplary flowchart starts at step S1 and ends at step S17.

[0033] Proceeding to step S2, the currently prevailing transport capacity Tcap in the elevator facility 1 is determined. In one embodiment, this is executed by the elevator control system 40. As described above, the elevator control system 40 determines, for example, the throughput, which is an indication of the available or remaining transport capacity Tcap of the elevator facility 1, using load measurement values and the number of elevator calls received within a predetermined period.

[0034] When proceeding to step S3, an elevator call is received. In the illustrated embodiment, the elevator control system 40 receives the elevator call via the communication network 36. As described above, the elevator control system 40 identifies the origin of the elevator call. For example, the elevator control system 40 processes the IP address associated with the received elevator call to determine the location of the related call terminal 12 or the related transceiver 10; that is, on which floor L0, L1 the elevator call was input. Further, when the identifier of the robot 2 is associated with the elevator call, the elevator control system 40 processes the identifier to identify the robot 2 and its location.

[0035] When proceeding to step S4, it is determined whether the elevator call is a robot call 2C. The elevator control system 40 makes this determination based on the processing performed in step S3. If the elevator call is not a robot call 2C, that is, if a person 4 inputs the elevator call, the method proceeds to step S15 along the "No" branch.

[0036] In step S15, the elevator control system 40 allocates the elevator call to the elevator car 22 and executes the elevator call in step S16. For example, when the elevator control system 40 allocates the elevator car 22 to service the elevator call, the elevator controller 28 controls the motor 26 to move the elevator car 22 to the landing floor (however, except when the elevator car 22 is already on this floor, for example, in the standby mode). When arriving at the landing floor, it controls to open the elevator doors (shaft doors and car doors) to permit boarding. When the set door dwell time elapses, it is controlled to close the elevator doors, and in the state where the destination floor is input, the elevator controller 28 controls the motor 26 to move the elevator car 22 to the destination floor. Note that embodiments for car allocation and execution of elevator calls are known to those skilled in the art.

[0037] Return to step S4. If the elevator call is the robot call 2C, the method proceeds to step S5 along the "Yes" branch. As described above, the robot call 2C includes the priority level PL; in a specific embodiment, it may further include information regarding the service condition ToS. Such service conditions enable customization of the robot call requirements. For example, the service condition ToS may specify a predetermined waiting time, for example, that the robot call 2C must be serviced within a certain time, or within a set period, for example, within the next 1, 2, or 5 hours. In step S5, the received priority level PL of the elevator call and any set service condition ToS are determined.

[0038] Proceed to step S6. If the priority level PL is set to high, the method proceeds to step S15 along the "Yes" branch, where robot call 2C is allocated and executed in step S16. For example, when robot 2 is dispatched to urgently transport items such as a patient's file or medicine in a hospital or hotel, robot call 2C may have a high priority level PL. In such a case, the elevator control system 40 treats the high-priority robot call 2C basically the same as an elevator call from person 4 (compare with the "No" branch in step S4). If the priority level PL is not set to high, the method proceeds to step S7 along the "No" branch.

[0039] In step S7, if the priority level PL is set to medium, the method proceeds to step S8 along the "Yes" branch; otherwise, it proceeds to step S11 along the "No" branch. For example, robot call 2C may have a medium priority level when robot 2 is dispatched to transport items such as meals, reading materials, or flowers to patients in a hospital or hotel.

[0040] In step S8, it is determined whether the transport capacity Tcap is about 25% or more. That is, at least one-fourth of the transport capacity Tcap is available for the service of robot call 2C. In this case, the method proceeds to step S15 along the "Yes" branch, where robot call 2C is allocated and executed in step S16. However, if the transport capacity Tcap is lower than about 25%, robot call 2C is not allocated considering only the transport capacity Tcap, and the method proceeds to step S9 along the "No" branch.

[0041] In step S9, as described above in relation to step S5, it is determined whether any of the service conditions ToS set for the robot call 2C are satisfied. If the service condition ToS is not satisfied, or if the robot call 2C does not include any service condition ToS, the method returns to step S8 via the queue step (step S10) along the "No" branch. That is, the allocation (step S15) and execution (step S16) of the robot call 2C are delayed until the requirements regarding the transport capacity Tcap in step S8 are satisfied and held in the queue (step S10). However, if the service condition ToS is satisfied, the method proceeds to step S15 along the "Yes" branch. That is, in one embodiment, the service condition ToS allows the robot call 2C to be allocated (step S15) and executed (step S16) even when the transport capacity Tcap is lower than about 25%.

[0042] Referring to step S7 and step S11 of its "No" branch, the priority level PL is neither high nor medium. Therefore, in step S11, the determined priority level PL is low. The robot call 2C may have a low priority level PL when the robot 2 is dispatched, for example, to perform a cleaning task or a garbage collection task.

[0043] When proceeding to step S12, it is determined whether the transport capacity Tcap is about 50% or more. That is, at least half of the transport capacity Tcap is available for the service of the robot call 2C. In this case, the method proceeds to step S15 along the "Yes" branch where the robot call 2C is allocated and executed in step S16. However, if the transport capacity Tcap is lower than about 50%, the robot call 2C is not allocated considering only the transport capacity Tcap, and the method proceeds to step S13 along the "No" branch.

[0044] In step S13, it is determined whether any of the set service conditions ToS for the robot call 2C, described above in relation to step S5, are met. If the service condition ToS is not met, or if the robot call 2C does not include any service condition ToS, the method returns to step S12 via the queue step (step S14) along the "no" branch. That is, the allocation (step S15) and execution (step S16) of the robot call 2C are delayed until the requirements regarding the transport capacity Tcap in step S13 are met and are held in the queue (step S14). However, if the service condition ToS is met, the method proceeds to step S15 along the "yes" branch. That is, in one embodiment, the service condition ToS enables the allocation (step S15) and execution (step S16) of the robot call 2C even when the transport capacity Tcap is lower than about 50%.

[0045] In the embodiment described with reference to FIG. 3, the robot call 2C may have high, medium, and low priority levels. However, in other embodiments, it is contemplated that other and / or different priority levels may be defined. For example, the priority level may take into account specific transport requirements of the robot 2, such as requiring an empty elevator car 22 so that the robot 2 can move alone ( "single movement") or can be transported without intermediate stops. According to one embodiment, the priority level may be defined as 1-6. - Priority levels 1 and 2 are defined as low priority with priority level 2 having the requirement of "single movement". - Priority levels 3 and 4 are defined as medium priority with priority level 4 having the requirement of "single movement". - Priority levels 5 and 6 are defined as high priority with priority level 6 having the requirement of "single movement".

[0046] As described above, the priority level can be input by the operator at the priority interface 6.

[0047] Figure 4 is a flowchart of an embodiment of the robot call execution step S16 of the method shown in FIG. 3. When a call is assigned in step S15 of FIG. 3, the robot 2 is notified of this assignment in step S16.1. This notification is made via the communication interface. If there are several elevators, i.e., several elevator cars 22, the elevator is identified by the notification and the robot 2 can move towards the identified elevator. In one embodiment, the notification may specify that the elevator car 22 is heading and may specify the arrival time.

[0048] Proceed to step S16.2, and the elevator car 22 arrives at the landing floor.

[0049] When proceeding to step S16.3, it is determined whether the robot call includes a requirement for independent movement. As described above, the independent movement requirement can be specified by the priority level included in the robot call. The independent movement requirement basically ensures the elevator assigned to the robot's travel. If independent movement is required, the method proceeds to step S16.4 along the "yes" branch, and if not, the method proceeds to step S16.6 along the "no" branch.

[0050] In step S16.4, the elevator door remains closed until the robot 2 arrives at the assigned elevator or elevator car 22. This prevents, for example, person 4 or other robots from boarding the (secured) elevator car 22 before the robot arrives. In one embodiment, the elevator control system 40 may activate an audible and / or visual announcement to person 4 near the elevator door to allow boarding the assigned elevator car 22. For example, the announcement may inform person 4 that the elevator car 22 is secured for the robot 2 and may request to clear the place so that the robot 2 can board the elevator car 22. This contributes to the efficient execution of the robot's independent movement.

[0051] In step S16.4, the elevator door opens. At this time, anyone among the people 4 to whom an elevator call has been assigned in this elevator car 22 can board.

[0052] When proceeding from step S16.4 to step S16.5, it is determined whether the robot has responded affirmatively (ack) that it has arrived at or exists in the assigned elevator. The robot 2 can transmit the arrival at or existence in the elevator to the elevator control system 40 and cause the elevator door to open. If the robot 2 responds affirmatively to its arrival or existence, the method proceeds to step S16.7 along the "Yes" branch, otherwise, the method returns to step S16.4 along the "No" branch and waits with the elevator door closed until the arrival or existence is affirmatively responded to.

[0053] In step 16.7 following step S16.5 or step S16.6, the method instructs the robot 2 to board the elevator car 22. In response to that instruction, the robot 2 boards the elevator car 22.

[0054] When proceeding to step S16.8, it is determined whether the robot has responded affirmatively (ack) that it has boarded the elevator car 22. The robot 2 may transmit its boarding to the elevator control system. If the robot 2 responds affirmatively to its boarding, the method proceeds to step S16.9 along the "Yes" branch, and the elevator control system 40 causes the completion of the elevator travel according to the robot call. Thereafter, the method proceeds to step S17 shown in FIG. 3.

[0055] If robot 2 does not affirmatively respond to boarding, the method proceeds along the "No" branch. In the illustrated embodiment, the method returns to step S16.7 and again commands robot 2 to board elevator car 22. In another embodiment, the method may wait without repeatedly commanding robot 2 until an affirmative boarding response from the robot is obtained; the method returns to the input of step S16.8. The loop along the "No" branch of step S16.8 is contemplated to be interrupted in one embodiment after a predetermined period and / or a predetermined number of repeat commands in step S16.7. This ensures that, for example, elevator car 22 is not blocked from servicing another elevator call for a period longer than that defined as acceptable for elevator installation 1.

Claims

1. A method of operating an elevator facility (1) having an elevator control system (40) and an elevator car (22) controlled by the elevator control system (40) for transporting a person (4) and / or a robot (2) from a landing floor to a destination floor within a building, the method comprising: the elevator control system (40) being configured to receive elevator calls from a person (4) via a calling terminal (12, 32) and from a robot (2) via a wireless transceiver (10) for communicating with the elevator control system (40); determining, by the elevator control system (40), a current transport capacity (Tcap) of the elevator facility (1), the transport capacity (Tcap) indicating a current utilization of the elevator facility (1); recognizing, by the elevator control system (40), an elevator call (2C) transmitted from the robot (2) via the wireless transceiver (10), the elevator call (2C) from the robot (2) including a priority level (PL) set by a dispatcher of the robot (2), the priority level (PL) being one of a high priority range, a medium priority range, and a low priority range, and the elevator call (2C) indicating a landing floor; delaying the assignment of the elevator call (2C) transmitted from the robot (2) to the elevator car (22) when the priority level (PL) is set to the medium priority range and the current transport capacity (Tcap) is lower than a first threshold (Tcap1); or when the priority level (PL) is set to the low priority range and the current transport capacity (Tcap) is lower than a second threshold (Tcap2); delaying the assignment of the elevator call (2C) transmitted from the robot (2) to the elevator car (22); comprising the method.

2. The elevator call transmitted from the robot (2) includes service condition (ToS) information specifying a predetermined waiting time, and the elevator call transmitted from the robot (2) is assigned to the elevator car (22) when the predetermined waiting time has elapsed regardless of the first threshold (Tcap1) or the second threshold (Tcap2). The method according to claim 1.

3. The method according to claim 2, further comprising queuing the elevator call transmitted from the robot (2) until a predetermined waiting time has elapsed. The method according to claim 2.

4. When an elevator call is originated from a person (4) or a robot (2) having a priority level (PL) set in a high-priority range, the elevator control system (40) further includes immediately allocating the elevator call to an elevator car (22). The method according to any one of claims 1 to 3.

5. The elevator control system (40) further includes executing the allocated call, and executing the allocated call includes controlling the elevator car (22) according to the allocated call. The method according to any one of claims 1 to 4.

6. Executing the allocated call includes at least one of notifying the robot (2) about the elevator car (22), controlling the elevator door according to whether the elevator call originated from the robot (2) includes a single movement requirement, instructing the robot (2) to enter the elevator car (22), and verifying the boarding of the robot (2). The method according to claim 5.

7. A first threshold value (Tcap1) and a second threshold value (Tcap2) are values between 0% and 100% of the maximum transport capacity, and the first threshold value (Tcap1) is lower than the second threshold value (Tcap2). The method according to any one of claims 1 to 6.

8. The first threshold value (Tcap1) is set to approximately 25% of the maximum transport capacity, and the second threshold value (Tcap2) is set to approximately 50% of the maximum transport capacity. The method according to claim 7.

9. An elevator facility (1), A drive (26), An elevator car (22) configured to transport a person (4) and / or a robot (2) from a landing floor (L0, L1) in a building to a destination floor (L0, L1), An elevator control system (40) coupled to the drive (26) and configured to receive an elevator call from a person (4) via a call terminal (12) and from a robot (2) via a wireless transceiver (10) Including The control system (40) is Determining a current transport capacity (Tcap) of the elevator facility (1) indicating a current usage level of the elevator facility (1), Recognize the elevator call (2C) transmitted from the robot (2) via the wireless transceiver (10), and the elevator call (2C) from the robot (2) includes the priority level (PL) set by the dispatcher of the robot (2), and the priority level (PL) is one of a high priority range, a medium priority range, and a low priority range, and the elevator call (2C) indicates the landing floor, When the priority level (PL) is set to the medium priority range and the current transport capacity (Tcap) is lower than the first threshold (Tcap1), or, When the priority level (PL) is set to the low priority range and the current transport capacity (Tcap) is lower than the second threshold (Tcap2), Delay the allocation of the elevator call (2C) transmitted from the robot (2) to the elevator car (22). Is configured as follows, Elevator facility (1).

10. The elevator call received from the robot (2) includes service condition (ToS) information specifying a predetermined waiting time, and when the elevator call received from the robot (2) is allocated to the elevator car (22) after the predetermined waiting time has elapsed regardless of the first threshold (Tcap1) or the second threshold (Tcap2). The elevator facility according to claim 9.

11. The elevator control system (40) includes an elevator control function (28) and a queue control function (30), and the queue control function (28) is configured to put the elevator call received from the robot (2) into the queue until a predetermined waiting time has elapsed. The elevator facility according to claim 10.

12. When an elevator call is transmitted from a person (4) or a robot (2) having a priority level (PL) set to the high priority range, the elevator control system (40) is configured to immediately allocate the elevator call to the elevator car (22). The elevator facility according to any one of claims 9 to 11.

13. The elevator control system (40) is configured to execute the allocated call, and executing the allocated call includes controlling the elevator car (22) according to the allocated call. The elevator facility according to any one of claims 9 to 12.

14. The first threshold value (Tcap1) and the second threshold value (Tcap2) are values between 0% and 100% of the maximum transport capacity, and the first threshold value (Tcap1) is lower than the second threshold value (Tcap2). The elevator facility according to any one of claims 9 to 13.

15. The first threshold value (Tcap1) is set to approximately 25% of the maximum transport capacity, and the second threshold value (Tcap2) is set to approximately 50% of the maximum transport capacity. The elevator facility according to claim 14.

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