Elevator car control method and system

Abstract

To allow a plurality of robots to ride in one elevator car when the same mission must be performed by the plurality of robots.SOLUTION: An elevator car control method includes the steps of: receiving a hall call including an indicator indicating the number of two or more robots and a destination floor originating from a first robot; grasping an interior space of each elevator car based on an interior image of the elevator car; allocating the elevator car to the hall call based on the interior space of the elevator car; receiving a boarding signal originating from a second robot; receiving a boarding completion signal originating from a third robot different from the second robot; and moving the elevator car to the destination floor.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an elevator car control method and system.

Background Art

[0002] Robots used to provide services within a building board an elevator car installed in the corresponding building and then move to the destination floor. When multiple robots have to perform the same task, for example, when each of two robots delivers five items to an office on one floor, the two robots need to board an elevator car together and move.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the same task has to be performed through multiple robots, enable the multiple robots to board one elevator car.

Means for Solving the Problems

[0005] As one aspect of this disclosure, an elevator car control method includes the steps of: receiving a hall call originating from a first robot that includes an indicator of the number of two or more robots and a destination floor; grasping the interior space of each elevator car based on an internal image of the elevator car; assigning an elevator car to the hall call based on the interior space of the elevator car; receiving a boarding signal originating from a second robot; receiving a boarding completion signal originating from a third robot different from the second robot; and moving the elevator car to the destination floor.

[0006] In one embodiment, the first robot and the second robot may be different robots.

[0007] In one embodiment, the first robot and the second robot may be the same robot.

[0008] In one embodiment, the step after the step of assigning the elevator car may further include a step of controlling the elevator car so that it is not assigned in response to a passenger's hall call.

[0009] In one embodiment, the number of two or more robots is N, where N is 3, and the step of allocating an elevator car based on the internal space of the elevator car may include: determining that there is no elevator car capable of accommodating the N robots; determining that there is an elevator car capable of accommodating N-1 robots; and allocating an elevator car capable of accommodating the N-1 robots.

[0010] In one embodiment, the hall call further includes information relating to the first to third robots, and further includes a step of receiving hall calls from the second and third robots, and the step of assigning an elevator car based on the internal space of the elevator car may include a step of assigning an elevator car in response to only one of the hall calls from the first to third robots.

[0011] In one embodiment, the step of assigning an elevator car to the hall call based on the internal space of the elevator car may include the step of assigning an elevator car taking into consideration the operating mode of the elevator car—the operating mode includes a robot-only mode and a robot / passenger-rider mode.

[0012] In one embodiment, the step of assigning an elevator car to the hall call based on the internal space of the elevator car may include the step of preferentially assigning an elevator car in robot-only mode.

[0013] In one aspect of the present disclosure, the elevator car control method includes the steps of: setting the operating mode of a first elevator car to a robot-only mode and operating it; setting the operating mode of a second elevator car to a robot / passenger-rider mode and operating it; receiving a hall call from a first robot that includes an indicator showing the number of two or more robots and the destination floor; acquiring the occupancy rate inside the first elevator car; acquiring the occupancy rate inside the second elevator car; and assigning an elevator car to the hall call based on at least one of the occupancy rate inside the first elevator car, the occupancy rate inside the second elevator car, the respective operating modes, and a preset criterion.

[0014] In one embodiment, the steps after assigning the elevator car to the hall call may further include: receiving a boarding signal from a second robot; receiving a boarding completion signal from a third robot different from the second robot; and moving the elevator car to the destination floor.

[0015] In one aspect of the present disclosure, a control method by a robot control system includes the steps of: receiving a grouping request signal; grouping a plurality of robots into a single group in response to the grouping request signal; transmitting a grouping signal containing information about each of the grouped robots; transmitting a signal to an elevator car control system to notify it of each of the grouped robots; moving each of the grouped robots for boarding the elevator car; transmitting a hall call to the elevator car control system, the hall call including an indicator of the number of each of the grouped robots; receiving a boarding signal from one of the plurality of robots; and receiving a boarding completion signal from one of the plurality of robots.

[0016] In one embodiment, the step of transmitting a hall call to the elevator car control system may include: receiving hall calls from the plurality of robots—the hall calls including robot information; and filtering out duplicate hall calls from the hall calls received from the plurality of robots based on the grouping signal and the hall calls.

[0017] In one embodiment, after the step of grouping multiple robots into a single group in response to a grouping request signal, the further step may include sending a signal to each of the grouped robots or any one of the grouped robots to select the robot to which the hall call will be sent.

[0018] In one aspect of the present disclosure, an elevator car control system includes a processor and a memory configured to store instruction words. When an instruction word is executed, the processor receives a hall call including an indicator of the number of two or more robots and a destination floor; determines the occupancy rate of each elevator car based on an internal image of the elevator car; assigns an elevator car to the hall call based on the occupancy rate of the elevator cars; receives a boarding signal from a robot; receives a boarding completion signal from a robot other than the robot; and moves the elevator car to the destination floor.

[0019] In one embodiment, the processor may be configured not to assign the elevator car in response to a passenger's hall call after it has been allocated.

[0020] In one embodiment, the system includes: a plurality of elevator cars; a camera positioned inside each elevator car and configured to acquire an internal image of each elevator car; and a processor configured to generate control signals that control the operation of each elevator car based on request signals received from robots, wherein the processor is configured to receive a hall call from one robot including an indicator of a plurality of robots belonging to a group and a destination floor, to assign an elevator car to transport the plurality of robots to the hall call based on the internal image of each elevator car, to house the plurality of robots in the elevator car for transporting the plurality of robots, and then to move to the destination floor. [Effects of the Invention]

[0021] By enabling multiple robots to board the same elevator car and travel to their destination floor, the efficiency of robot transport can be improved when two or more robots are moving to the same location for the same purpose. [Brief explanation of the drawing]

[0022] [Figure 1] An example diagram of an elevator car control environment according to an embodiment of the present disclosure. [Figure 2] A block diagram of an elevator car boarding robot according to an embodiment of the present disclosure. [Figure 3] A block diagram of a robot control system for controlling a robot according to an embodiment of the present disclosure. [Figure 4] A block diagram of a system for controlling an elevator car according to an embodiment of the present disclosure. [Figure 5] A flowchart of a method for controlling an elevator car according to an embodiment of the present disclosure. [Figure 6] A flowchart of a method for controlling an elevator car according to an embodiment of the present disclosure. [Figure 7] A flowchart of a method for controlling an elevator car according to an embodiment of the present disclosure.

MODE FOR CARRYING OUT THE INVENTION

[0023] Hereinafter, with reference to the accompanying drawings, the embodiments of the present disclosure will be described in detail so that those having ordinary knowledge in the technical field to which the present disclosure pertains can easily implement them. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein.

[0024] In the drawings, in order to clearly explain the present disclosure, parts not related to the explanation are omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0025] Throughout the specification, when one part "includes" one component, this means that, unless otherwise stated to the contrary, it does not exclude other components but may further include other components.

[0026] The technology described in the present disclosure is not intended to be limited to specific embodiments, but should be understood to include various modifications, equivalents, and / or alternatives of the embodiments of the present disclosure.

[0027] As used in this disclosure, “configured (or set up)” may be replaced, depending on the context, with, for example, “suitable for,” “capable of,” “designed to,” “modified to,” “made to,” or “capable of.” The term “configured (or set up)” does not necessarily mean “specifically designed” in terms of hardware. Instead, in some contexts, the expression “device configured to” may mean that the device is “capable” of “doing” something together with other devices or components.

[0028] The prior art described herein is incorporated herein by reference in its entirety, and it can be understood that the content described in the prior art is applicable to the portion of the disclosure described herein that is abbreviated to a person who is generally skilled in the art.

[0029] Figure 1 is an example diagram of an elevator car control environment according to one embodiment of the present disclosure.

[0030] Referring to Figure 1, the elevator car control environment includes an elevator car 100, robots 1 to 3 (hereinafter referred to as "each robot") 200, 202, and 204 that board the elevator car 100 and move to the destination floor, a robot control system 300 that controls each of the robots 200, 202, and 204, and an elevator car control system 400 that controls the elevator car 100. In one embodiment, the configuration including the elevator car 100 and the elevator car control system 400 can be named the elevator car control system.

[0031] When the doors of elevator car 100 are opened, robots 200, 202, and 204 can board. A camera 110 may be installed inside elevator car 100, and a weight sensor 120 may be installed on the floor of elevator car 100. The camera 110 may be configured to acquire images of the passengers inside elevator car 100 and / or each of the robots 200, 202, and 204. Elevator car 100 can acquire the number of passengers inside elevator car 100 and / or the number of robots riding inside from the images taken by the camera 110. The weight sensor 120 may be configured to sense the weight of the passengers and each of the robots 200, 202, and 204 riding in elevator car 100. The images acquired by the camera 110 and the weights sensed by the weight sensor 120 may be transmitted to the elevator car control system 400. The elevator car control system 400 can calculate the passenger space S of the elevator car 100 or the occupancy rate of objects inside the elevator car 100 based on images acquired by the camera 110 and / or weights sensed by the weight sensor 120. The elevator car control system 400 can determine the number of passengers and / or robots inside the elevator car 100 from images acquired by the camera 110. Furthermore, Korean registered patent 10-2541959 discloses a method for calculating the spatial occupancy rate of objects inside an elevator car.

[0032] In one embodiment, the elevator car control system 400 can assign hall calls to the elevator car based on the elevator car's passenger capacity, for example, the maximum number of passengers the elevator car can carry, the maximum weight capacity the elevator car can carry, and the number of passengers and / or robots inside the elevator car.

[0033] Each of the robots 200, 202, and 204 is a service robot used to provide services within a building, which will be described in more detail with reference to Figure 2. At least part of the movement of each of the robots 200, 202, and 204 and the calling to the elevator car 100 may be performed through a robot control system 300, which will be described in more detail with reference to Figure 3. The elevator car control system 400 may be configured to control a plurality of elevator cars, including elevator car 100. The elevator car control system 400 can, for example, move the appropriate elevator car (e.g., elevator car 100) from among the plurality of elevator cars to the floor where each of the robots 200, 202, and 204 is located.

[0034] In one embodiment, each robot 200, 202, and 204 may be equipped with at least some of the components of the robot control system 300. Alternatively, each robot 200, 202, and 204 and the robot control system 300 may be physically separated. The robot control system 300 and the robots 200, 202, and 204 may be implemented on separate servers.

[0035] In one embodiment, the robots 200, 202, and 204 are grouped together as shown by the dotted lines in Figure 1 to perform a common task and move to the same destination floor. For example, one robot can move 5 items. It is possible that the robots 200, 202, and 204 may simultaneously perform the task of moving 15 items. In this case, the robots 200, 202, and 204 may be grouped together. Preferably, when the grouped robots 200, 202, and 204 move to the same destination floor, they can board a single elevator car simultaneously and move to the same destination floor together. That is, if a robot capable of carrying N items is required to carry more than N items, two or more robots may be grouped together. This disclosure mainly assumes that the number of grouped robots is 3, but it should be understood that the number of grouped robots may be any number other than 3, such as 2 or more.

[0036] The robot control system 300 can receive a grouping request signal from an external source. The grouping request signal may include an item transport signal. The item transport signal may include the number of items. Based on the number of items and the number of items that one robot can transport, the robot control system 300 can group multiple robots into a single group. This disclosure describes how robots 200, 202, and 204 are grouped. The robot control system 300 can transmit a grouping signal to each of the grouped robots 200, 202, and 204. The grouping signal may include robot information (e.g., each robot ID) and mission information (e.g., destination, mission, etc.). The grouping signal may include information indicating which robots are grouped.

[0037] The robot control system 300 can transmit a signal to the elevator car control system 400 indicating which robots have been grouped. This allows the elevator car control system 400 to know which robots have been grouped.

[0038] Each of the grouped robots 200, 202, and 204 can, in order to board the elevator car 100, send an elevator car call command signal (e.g., a hall call) to the elevator car control system 400 via the robot control system 300, with only one of the robots 200, 202, and 204 (hereinafter referred to as robot 200) being able to do so. The robot that sends the hall call may be arbitrarily selected from each of the robots 200, 202, and 204. The selection of the robot that sends the hall call may be performed by the robot control system 300. The robot control system 300 may send a signal specifying which robot will send the hall call to each of the grouped robots or to the designated robot. For example, the signal for selecting which robot will send the hall call may be included in the grouping signal. Alternatively, the robot control system 300 may send a signal specifying which robot will send the hall call to each of the grouped robots or only to the designated robot, separately from the grouping signal.

[0039] In one embodiment, the robot that arrives at the boarding area first among the grouped robots can send a hall call on behalf of all the robots in the group. Alternatively, based on the unique ID of each robot in the group, one robot (for example, the robot with the smallest or largest ID number) can send a hall call on behalf of all the robots in the group. Alternatively, the robot closest to the elevator car door can send a hall call.

[0040] This allows the allocation of elevator cars for each robot 200, 202, and 204 to board to be performed by a single elevator car call command signal. The hall call may include an indicator showing the number of each robot 200, 202, and 204. The hall call may also include information on the calling floor (robot standby floor) and destination floor. Thus, the elevator car control system 400 can be controlled to allocate elevator cars that can accommodate all of the robots 200, 202, and 204.

[0041] Alternatively, if each of the robots 200, 202, and 204 transmits an elevator car call command signal (e.g., a hall call) to the elevator car control system 400 through the robot control system 300, the robot control system 300 can transmit only one elevator car call command signal to the elevator car control system 400, or the elevator car control system 400 can respond to only one elevator car call signal and assign an elevator car. In other words, the robot control system 300 or the elevator car control system 400 can filter hall calls transmitted by multiple robots belonging to a single group based on a grouping signal.

[0042] In one embodiment, the hall call transmitted by each of the robots 200, 202, and 204 may further include robot information (e.g., robot ID). The robot control system 300 or the elevator car control system 400 can determine whether each of the grouped robots 200, 202, and 204 has transmitted a hall call based on the robot information and grouping signals included in the hall call. In response to determining that each of the grouped robots 200, 202, and 204 has transmitted a hall call, the robot control system 300 or the elevator car control system 400 can assign an elevator car to correspond to one of the hall calls.

[0043] In one embodiment, the elevator car control system 400 can assign an elevator car to each grouped robot, taking into account the current operating mode of each elevator car. For example, each of the multiple elevator cars may be operating in one of the following modes before the elevator car control system 400 receives a hall call from the grouped robots: a robot-only mode in which calling services are provided only to robots, a general passenger mode in which calling services are provided only to people, and a shared-ride mode in which calling services are provided to both robots and people. Alternatively, there may be elevator cars for which no operating mode is defined.

[0044] The elevator car control system 400 can receive hall calls for multiple robots to board. The elevator car control system 400 can assign hall calls to elevator cars, taking into account which operating mode the elevator car is currently running in. The elevator car control system 400 can prioritize assigning hall calls to elevator cars in robot-only mode.

[0045] In one embodiment, the elevator car control system 400 can determine that, since only robots are riding in the elevator car operating in robot-only mode, it can accommodate more robots than in passenger mode. For example, if the occupancy rate of the elevator car operating in robot-only mode is the same as that of the elevator car operating in passenger mode, the elevator car control system 400 can prioritize assigning the elevator car operating in robot-only mode to respond to hall calls for multiple robots to board. Even if the space occupancy rate of the elevator car in robot-only mode is lower than that of the elevator car operating in passenger mode, the elevator car control system 400 can still assign the elevator car in robot-only mode to respond to hall calls for multiple robots to board, provided the difference is smaller than a preset standard. For example, if the difference between the space occupancy rate of the elevator car in robot-only mode and the occupancy rate of the elevator car operating in passenger mode is within 5% or 10%, the elevator car in robot-only mode can be assigned to respond to hall calls for multiple robots to board.

[0046] The following example illustrates a case where three robots are grouped together. Three robots are illustrative, and this disclosure is not limited to this example. It should be understood that the following example is applicable when grouping two or more robots together.

[0047] Three robots, 200, 202, and 204, board a single elevator car.

[0048] As described above, for each of the robots 200, 202, and 204 to board, one or each of them can send an elevator car call command (hall call). In response to the hall call, the elevator car control system 400 can assign only one elevator car to the three robots 200, 202, and 204.

[0049] The elevator car control system 400 can assign a hall call to the most suitable elevator car (here, for example, elevator car 100). At this time, three passenger elevator cars may be assigned so that all of the grouped robots, here all of robots 200, 202, and 204, can board. Upon receiving the hall call, elevator car 100 arrives at the landing where robots 200, 202, and 204 are waiting. In one embodiment, as described above, each of robots 200, 202, and 204, or one of them, can transmit a signal indicating the destination floor along with the elevator car call command signal.

[0050] In one embodiment, the elevator car control system 400 can assign hall calls to elevator cars based on the space occupancy rate within the elevator car, the passenger capacity of the elevator car, and the number of passengers and / or robots inside the elevator car. The elevator car control system 400 can assign hall calls to elevator cars where the number of passengers (and / or robots) is less than or equal to a preset ratio compared to the maximum passenger capacity of the elevator car, for example, one of 20%, 30%, 40%, 50%, or 60% of the maximum passenger capacity. The ratio to the maximum passenger capacity may be set by the administrator of the elevator car control system 400. In one embodiment, the elevator car control system 400 can set the ratio to the maximum passenger capacity in various ways, taking into account the operating mode in which the elevator car is currently running. For example, in the case of an elevator car in robot-only mode, the elevator car control system 400 may be set to determine that each grouped robot can board an elevator car where the number of passengers is 30% or less of the maximum passenger capacity. The elevator car control system 400 may be configured to determine that each grouped robot can board an elevator car if the number of passengers is 20% or less of the maximum passenger capacity, in the case of an elevator car in passenger mode.

[0051] The elevator car control system 400 can assign a hall call to an elevator car with passengers (and / or robots) whose weight is less than or equal to one of a preset ratio, such as 20%, 30%, 40%, 50%, or 60% of the maximum passenger weight, compared to the maximum passenger weight of the elevator car. The ratio to the maximum passenger weight may be set by the administrator of the elevator car control system 400. In one embodiment, the elevator car control system 400 can set the weight ratio to the maximum passenger weight differently, taking into account which operating mode the elevator car is currently running in. For example, in the elevator car control system 400, the ratio may be set to 30% for elevator cars in robot-only mode and to 20% for elevator cars in passenger mode.

[0052] If the maximum capacity of an elevator car is 20 people, the elevator car control system 400 can assign a hall call for three robots to an elevator car that has four or fewer passengers (and / or robots) and / or two or fewer robots on board. For example, if the maximum capacity of an elevator car is 20 people, the elevator car control system 400 (including passengers and robots) can assign a hall call to an elevator car that is detected to have a weight of the objects on board that is below a preset weight. The elevator car control system 400 can assign a hall call to an elevator car that is detected to have a weight of the objects on board that is below a preset weight or below a preset ratio of the maximum capacity compared to the elevator car's maximum capacity. The elevator car control system 400 can assign a hall call to an elevator car with as few people on board as possible. If there is an elevator car that falls under the above examples, the elevator car control system 400 can determine that there is an elevator car that can accommodate all of the grouped robots 200, 202, and 204, and can assign a hall call to that elevator car.

[0053] The assigned elevator car 100 arrives at the boarding area, and the doors of elevator car 100 are opened. Elevator car 100 can transmit a boarding signal to the robot control system 300. Elevator car 100 can transmit a boarding signal to the robot control system 300 via the elevator car control system 400. The robot control system 300 can transmit boarding signals to each of the robots 200, 202, and 204.

[0054] When the grouped robots 200, 202, and 204 board the same elevator car 100, any one of the robots 200, 202, or 204 can send a "robot on board" signal to the elevator car control system 400 via the robot control system 300 in order to board the elevator car 100. In one embodiment, the robot that boards first can send a "robot on board" signal to the elevator car control system 400. Therefore, the robot closest to the elevator car door can send a "robot on board" signal to the elevator car control system 400. Also, the robot that sends a hall call can send a "robot on board" signal to the elevator car control system 400. The second and third robots can board the elevator car 100 without sending any specific signal. The last robot to board can send a boarding completion signal to the elevator car control system 400. The last robot to board can send a boarding completion signal to the elevator car control system 400 via the robot control system 300.

[0055] After all robots 200, 202, and 204 have boarded, the doors close and elevator car 100 moves toward the destination floor. The destination floor registration signal (carcall) can be transmitted when any one of the robots 200, 202, or 204 transmits a carcall, or after all robots 200, 202, and 204 have boarded elevator car 100, they can transmit a carcall to the elevator car control system 400 via the robot control system 300.

[0056] The doors open when elevator car 100 arrives at the destination floor. The elevator car control system 400 can transmit a disembarkation signal to the robot control system 300. The robot control system 300 can transmit disembarkation signals to each of the robots 200, 202, and 204. The first robot to disembark among robots 200, 202, and 204 can transmit a disembarkation signal to the elevator car control system 400. The second and third robots to disembark can disembark from elevator car 100 without transmitting any specific signal. The last robot to disembark can transmit a disembarkation complete signal to the elevator car control system 400.

[0057] Three robots, 200, 202, and 204, board two elevator cars.

[0058] In one embodiment, the elevator car control system 400 can determine that there is no elevator car that can accommodate all of the grouped robots. The elevator car control system 400 can determine that there is no elevator car that meets a preset criterion, and in response to that determination, it can determine that there is no elevator car that can accommodate all of the grouped robots.

[0059] The elevator car control system 400 can determine, for example, whether there is an elevator car that can accommodate two robots, in response to the determination that there is no elevator car that can accommodate all of the grouped robots. In response to the determination that there is an elevator car that can accommodate two robots, the elevator car control system 400 can assign the elevator car that can accommodate two robots and the elevator car that can accommodate one robot to each group of robots 200, 202, and 204, and move them to the landings where each robot 200, 202, and 204 is located. The elevator car control system 400 can transmit information about the elevator car that can accommodate two robots and the elevator car that can accommodate one robot to each group of robots 200, 202, and 204. The elevator car control system 400 can transmit information about the elevator car that can accommodate two robots and the elevator car that can accommodate one robot to the robot control system 300. Each of the robots 200, 202, and 204 may be assigned which robot will ride in which elevator car, and which elevator car will ride in which robot.

[0060] The elevator car control system 400 can assign a hall call to an elevator car that has passengers (and / or robots) whose capacity is less than or equal to a preset ratio compared to the elevator car's maximum capacity, for example, 20%, 30%, 40%, or 50% of the maximum capacity. In this case, the ratio to the maximum capacity is greater than the ratio set to determine that there is an elevator car that can accommodate three robots. For example, the elevator car control system 400 may be set to determine that an elevator car with passengers (and / or robots) whose capacity is 20% of the maximum capacity is an elevator car that can accommodate three robots. The elevator car control system 400 may be set to determine that an elevator car with passengers (and / or robots) whose capacity is 30% of the maximum capacity is an elevator car that cannot accommodate three robots but can accommodate two robots. The ratio to the maximum capacity may be set by the administrator of the elevator car control system 400. The elevator car control system 400 can assign a hall call to elevator cars with passengers that represent a preset ratio, for example, 20%, 30%, or 40% of the maximum passenger weight of the elevator car. In this case, the ratio relative to the maximum passenger weight is greater than the ratio set to determine that there is an elevator car that can accommodate three robots. The ratio relative to the maximum passenger weight may be set by the administrator of the elevator car control system 400.

[0061] The elevator car control system 400 can assign elevator cars that can accommodate two robots and elevator cars that can accommodate one robot to the grouped robots 200, 202, and 204. The elevator car control system 400 can transmit the assigned elevator car information to the robot control system 300. The robot control system 300 can determine which of the grouped robots 200, 202, and 204 will ride in the elevator car that can accommodate two robots, and can transmit control signals to the grouped robots 200, 202, and 204. For example, the robot control system 300 can specify which robot rides in which elevator car.

[0062] Two assigned elevator cars arrive at the boarding area. Each arriving elevator car can transmit a boarding signal to the robot control system 300. Each elevator car can transmit a boarding signal to the robot control system 300 via the elevator car control system 400. The robot control system 300 can transmit a boarding signal to the robot designated to board the corresponding elevator car from among robots 200, 202, and 204.

[0063] In one embodiment, it is assumed that two robots from robots 200, 202, and 204 are each riding in one of the two passenger elevator cars. In this embodiment, the first robot to board can transmit a robot boarding signal to the elevator car control system 400. The second robot to board can board both passenger elevator cars without transmitting any specific signal. The last robot to board can transmit a boarding completion signal to the elevator car control system 400. The last robot to board can transmit a boarding completion signal to the elevator car control system 400 via the robot control system 300.

[0064] In one embodiment, it is assumed that one of the robots 200, 202, and 204 is on board one passenger elevator car. One robot can transmit a "robot on board" signal to the elevator car control system 400. A robot that has completed boarding can transmit a "boarding complete" signal to the elevator car control system 400.

[0065] Each elevator car arrives at its destination floor. The elevator car control system 400 can transmit a disembarkation signal to the robot control system 300. The robot control system 300 can transmit a disembarkation signal to any robots on board the elevator car that has arrived at its destination floor. If two robots are on board, the first robot to disembark can transmit a disembarkation signal to the elevator car control system 400. The second robot to disembark can disembark from the elevator car without transmitting any specific signal. The last robot to disembark can transmit a disembarkation complete signal to the elevator car control system 400. If an elevator car carrying only one robot arrives at its destination floor, the procedure is the same as a typical disembarkation.

[0066] In one embodiment, the robot that disembarks first may be controlled by the robot control system 300 to wait for robots that arrive later. For example, the elevator car control system 400 transmits a disembarkation signal to the robot control system 300, and the robot control system 300 transmits a disembarkation signal to the robots, so that the robot control system 300 can determine which robot arrived at the destination floor first. The robot control system 300 can transmit a waiting signal to the robot that disembarked first, instructing it to wait for robots that arrive later. The elevator car control system 400 can receive a disembarkation completion signal from the robot that arrived at the destination floor later and transmit the disembarkation completion signal to the robot control system 300. Based on the disembarkation completion signal from the robot that arrived at the destination floor later, the robot control system 300 can transmit a waiting release signal to the robot that arrived first.

[0067] Three robots, 200, 202, and 204, will board three elevator cars.

[0068] The elevator car control system 400 can determine, for example, whether there is an elevator car available for two robots, in response to the determination that there is no elevator car available for all of the grouped robots. In response to the determination that there is no elevator car available for two robots, the elevator car control system 400 can assign an elevator car to each of the robots 200, 202, and 204.

[0069] The elevator car control system 400 can transmit assigned elevator car information to the robot control system 300. The robot control system 300 can transmit the received assigned elevator car information to each of the robots 200, 202, and 204. Since it is possible for each of the three robots 200, 202, and 204 to board the elevator car, travel to the target floor, and disembark using conventional technology, a detailed explanation of that will be omitted.

[0070] In one embodiment, the robots that disembark first may be controlled by the robot control system 300 to wait for robots that arrive later. For example, the elevator car control system 400 transmits a disembarkation signal to the robot control system 300, and the robot control system 300 transmits a disembarkation signal to the robots, so that the robot control system 300 can determine which robot arrived at the destination floor first. The robot control system 300 can transmit a waiting signal to the robots that disembarked first, instructing them to wait for robots that arrive later. The elevator car control system 400 can receive a disembarkation completion signal from the robot that arrived last at the destination floor and transmit the disembarkation completion signal to the robot control system 300. Based on the disembarkation completion signal from the robot that arrived last at the destination floor, the robot control system 300 can transmit a waiting release signal to each of the robots that arrived earlier.

[0071] In one embodiment, if a hall call is assigned to an elevator car for all or two of the grouped robots 200, 202, and 204, no other hall calls may be assigned to the assigned elevator car before the corresponding robots 200, 202, and 204 board. This is because if other hall calls are assigned to the assigned elevator car and other passengers (and / or robots) board before the corresponding robots 200, 202, and 204 board, the corresponding robots 200, 202, and 204 may not be able to board.

[0072] Three robots, 200, 202, and 204, are controlled to reach their destination floor within a set time.

[0073] When multiple robots 200, 202, and 204 are divided and board different elevator cars, the elevator car control system 400 can assign and control each elevator car so that each robot 200, 202, and 204 arrives at the destination floor at substantially the same time (for example, so that each elevator car arrives with a set time difference) or within a set time.

[0074] In one embodiment, the elevator car control system 400 can control multiple elevator cars to move to the floor where the hall call is registered (for example, the floor where each of the grouped robots is waiting), by combining the number of robots in each group with the number of robots that can be accommodated by multiple elevator cars. For example, if a group of three robots is waiting on the floor where the hall call is registered, the elevator car control system 400 can control an elevator car that can accommodate two robots and an elevator car that can accommodate one robot to arrive at the floor where the hall call is registered within the set time. Alternatively, the elevator car control system 400 can control three elevator cars that can accommodate one robot each to arrive at the floor where the hall call is registered within the set time.

[0075] For this type of control, in one embodiment, the elevator car control system 400, in response to receiving hall calls from grouped robots, can determine the number of robots that can be accommodated in each elevator car and calculate the time it will take for each elevator to arrive at the floor where the hall call is registered from its current position. After calculating the time for each elevator car to arrive at the floor where the hall call is registered, the elevator car control system 400 can group the elevator cars with the smallest difference in arrival times to the floor where the hall call is registered. Since the number of robots that can be accommodated in each elevator car is known, the elevator car control system 400 combines the number of grouped robots with the number of robots that can be accommodated in the elevator car with the smallest difference in arrival times to the floor where the hall call is registered, and controls multiple elevator cars to move to the floor where the hall call is registered. The elevator car control system 400 may not later assign a hall call to multiple elevator cars moving to the floor where the hall call is registered.

[0076] After multiple robots have boarded multiple elevators, the elevator car control system 400 controls the multiple elevators to move to their destination floors and prevents other hall calls from being assigned to the multiple elevators before they reach their destination floors.

[0077] Figure 2 is a block diagram of one robot 200, which is an elevator car riding robot according to one embodiment of the present disclosure.

[0078] Referring to Figure 2, the robot 200 includes a processor 210, a memory 220, a sensor 230, a communication unit 240, and a drive unit 250. The processor 210 may be configured to control the robot—for example, movement, mapping, data processing, etc.—and control the components of the robot 200 when instruction words stored in the memory 220 are executed. The processor 210 can control the communication unit 240 and transmit the aforementioned signals to the elevator car control system 400 through the robot control system 300. The processor 210 can also transmit information collected by the sensor 230 or information regarding the movement of the robot 200 (for example, boarding, disembarking, waiting) to the elevator car control system 400 through the robot control system 300.

[0079] The processor 210 can control the robot 200 based on the information sensed by the sensor 230. In one embodiment, the processor 210 may be an ASIC (application specific integrated circuits), a DSP (digital signal processor), a DSPD (digital signal processing device), a PLD (programmable logic device), an FPGA (field programmable gate array), a controller, a microcontroller, a microprocessor, or any other form of processor or controller for performing functions.

[0080] The sensor 230 may be configured to collect data required for the autonomous navigation of the robot 200. The robot 200 can sense the opening / closing of the doors after the elevator car 100 has arrived at the landing or destination floor via the sensor 230. Based on the opening / closing of the doors, the robot 200 can board / alight the elevator car 100. The information sensed by the sensor 230 can be transmitted to the elevator car control system 400 via the robot control system 300 through the communication unit 240.

[0081] The communication unit 240 may be configured for the robot 200 to communicate with other devices, such as a robot control system 300. The communication unit 240 may be a hardware module for the robot 200 that transmits / receives data and / or information, such as an antenna, data bus, network interface card, network interface chip, and networking interface port, or a software module such as a network device driver or networking program. The drive unit 250 is configured to enable the robot 200 to move and may include hardware such as motors and wheels for doing so.

[0082] Figure 3 is a block diagram of a robot control system 300 for controlling a robot according to one embodiment of the present disclosure. The robot control system 300 may be a device that controls the movement of the robot 200 and the provision of services by the robot 200 within a building. The robot control system 300 can call an elevator car 100 to move the robot 200 to a destination floor via communication with an elevator car control system 400. The robot control system 300 can recognize the elevator car 100 that has been called, control the robot 200 so that it can board it, and control the robot 200 so that it disembarks from the elevator car 100 at the destination floor. The robot control system 300 may include at least one computing device and may be embodied in a server located inside or outside the building. The robot control system 300 may be embodied in a cloud server (system). The robot control system 300 may be configured to send signals to the elevator car control system 400 to control the elevator car 100 based on signals or information received from the robot 200.

[0083] Referring to Figure 3, the robot control system 300 may include a processor 310, memory 320, interface 330, and communication unit 340. The configuration of the processor 310, memory 320, and communication unit 340 may be similar to the configuration of the processor 210, memory 220, and communication unit 240 of the robot 200, so a detailed explanation of that will be omitted. The interface 330 may include input devices such as a keyboard, mouse, touch panel, and microphone, and / or output devices such as a display and speaker.

[0084] Figure 4 is a block diagram of an elevator car control system 400 according to one embodiment of the present disclosure. The elevator car control system 400 may be a device that calls an elevator car 100 moving (e.g., up and down) within a building and controls the movement of the elevator car 100 (or generates signals to control the movement of the elevator car 100). The elevator car control system 400 may include at least one computing device and may be embodied in a computer system located inside or outside the building. The elevator car control system 400 may be separate from a control panel that directly controls the elevator car 100. The elevator car control system 400 can transmit signals required to control the elevator car 100 to the control panel. Alternatively, the elevator car control system 400 may be configured to include a control panel. The elevator car control system 400 can receive information from a camera 110 and / or a weight sensor 120.

[0085] Referring to Figure 4, the elevator car control system 400 includes a processor 410, memory 420, interface 430, and communication unit 440. The configuration of the processor 410, memory 420, and interface 430 may be similar to that of the processor 310, memory 320, interface 330, and communication unit 340, so a detailed explanation of that will be omitted.

[0086] Figure 5 is a flowchart of a method for controlling an elevator car according to one embodiment of the present disclosure. Figure 5 shows a method of assigning an elevator to a group of robots, and then moving each of the grouped robots to the destination floor.

[0087] Referring to Figure 5, in step S505, the elevator car control system 400 receives a hall call from the first robot. The first robot may be any one of the robots included in a group of robots. The hall call may include an indicator showing the number of robots in the group and the destination floor. The elevator car control system 400 receiving a hall call from the first robot may include the elevator car control system 400 receiving a hall call through the robot control system 300.

[0088] In stage S510, the elevator car control system 400 grasps the internal space of the elevator car. The elevator car control system 400 can obtain images of the internal space of each of the multiple elevator cars from cameras placed inside each elevator. From the internal images of the elevator cars, the elevator car control system 400 can determine the number of robots that the elevator car can accommodate.

[0089] In step S515, the elevator car control system 400 assigns an elevator car to a hall call. As described above, the elevator car control system 400 can assign one or more elevator cars to a hall call based on the number of robots in each group and the number of robots that the elevator car can accommodate.

[0090] In stage 520, the elevator car control system 400 receives a boarding signal from the second robot. The second robot may be any one of the robots included in the grouped robots. The first robot and the second robot may be the same or different. The second robot may be the robot that boards the elevator car first among the grouped robots.

[0091] In step S525, the elevator car control system 400 receives a boarding completion signal originating from a third robot, which is different from the second robot. The third robot may be the last robot to board among a group of robots.

[0092] In stage S530, the elevator car control system 400 moves the elevator car to the destination floor.

[0093] Figure 6 is a flowchart of a method for controlling an elevator car according to one embodiment of the present disclosure. Figure 6 shows a method for assigning an elevator to a group of robots.

[0094] In step S605, the elevator car control system 400 operates the first elevator car with its operating mode set to robot-only mode. The first elevator car may be at least one of a plurality of elevator cars.

[0095] In step S610, the elevator car control system 400 operates the second elevator car with its operating mode set to robot / passenger-accompanied mode. The second elevator car may be at least one of several elevator cars.

[0096] In step S615, the elevator car control system 400 receives a hall call from the first robot. The first robot may be any one of several robots included in a group. The hall call may include an indicator showing the number of robots in the group and the destination floor.

[0097] In stage S620, the elevator car control system 400 obtains the occupancy rate of the interior of the first elevator car. The elevator car control system 400 can obtain images of the interior space of each of the multiple elevator cars from cameras placed inside each elevator. The elevator car control system 400 can obtain the occupancy rate of the interior of the first elevator car from the interior image of the first elevator car.

[0098] In stage S625, the elevator car control system 400 obtains the occupancy rate inside the second elevator car. The elevator car control system 400 can obtain the occupancy rate inside the second elevator car from the internal image of the second elevator car.

[0099] In stage S630, the elevator car control system 400 assigns elevator cars to hall calls based on the occupancy rate inside the first elevator car, the occupancy rate inside the second elevator car, each operating mode, and preset criteria.

[0100] Figure 7 is a flowchart of a method for controlling an elevator car according to one embodiment of the present disclosure. Figure 7 shows a method for assigning an elevator to a group of robots and having each of the grouped robots board the elevator.

[0101] In step S705, the robot control system 300 receives a grouping request signal. The grouping request signal may include an item transport signal. The item transport signal may include the number of items. Based on the number of items and the number of items that one robot can transport, the robot control system 300 can group multiple robots into one group. The robot control system 300 can receive a grouping request signal from an external source. The grouping signal may include robot information (e.g., each robot ID) and mission information (e.g., destination, mission, etc.). The grouping signal may include information indicating which robots have been grouped. The robot control system 300 may send a signal specifying which robots to send a hall call to, separately from the grouping signal, to each robot in the group or only to the specified robots.

[0102] In step S710, the robot control system 300 groups multiple robots into one group in response to a grouping request signal. The robot control system 300 can group multiple robots into one group based on the number of items and the number of items that one robot can carry.

[0103] In step S715, a grouping signal containing information about each robot in the group is sent to each of the grouped robots. The grouping signal may include robot information (e.g., each robot's ID) and mission information (e.g., destination, mission, etc.). The grouping signal may also include information indicating which robots are in the group. The grouping signal may also include information specifying which of the grouped robots will send the hall call.

[0104] In step S720, the robot control system 300 transmits a signal to the elevator car control system 400 notifying it of each grouped robot. This allows the elevator car control system 400 to understand which robots have been grouped.

[0105] In step S725, the robot control system 300 moves each of the grouped robots to board the elevator car.

[0106] In step S730, the robot control system 300 transmits a hall call to the elevator car control system 400. The hall call may include an indicator showing the number of robots in each group. The robot control system 300 can receive hall calls from one or more robots. In one embodiment, if the robot control system 300 receives hall calls from multiple robots, the robot control system 300 can filter out duplicate hall calls and transmit a single hall call to the elevator car control system 400.

[0107] In step S735, the robot control system 300 receives a riding signal from one of the grouped robots.

[0108] In step S740, the robot control system 300 receives a boarding completion signal from one of the multiple robots. The robot that sends the boarding in progress signal and the robot that sends the boarding completion signal may be different.

[0109] In this disclosure, the transmission of a signal by a robot to an elevator car control system can include the transmission of a signal to the elevator car control system through a robot control system. That is, the reception of a signal from a robot to an elevator car control system can include the reception of a signal through a robot control system.

[0110] In this disclosure, “occupancy rate” can include the occupancy rate of the space occupied by objects (e.g., both people and robots) inside the elevator car. “Occupancy rate” can include the ratio of the weight of objects (e.g., both people and robots) inside the elevator car to the maximum capacity weight of the elevator car. “Occupancy rate” can include the ratio of the passengers and / or robots (e.g., both people and robots) inside the elevator car to the maximum capacity passengers of the elevator car.

[0111] The methods relating to this disclosure can be embodied as processor-readable code on a processor-readable recording medium provided in a server, system, equipment, computer, integrated control device, etc., used by any entity. A processor-readable recording medium includes all types of recording devices on which data read by a processor is stored. Examples of processor-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage devices, and also include those embodied in the form of carrier waves, such as transmission over the Internet. Furthermore, processor-readable recording media may be distributed across networked computer systems, and processor-readable code may be stored and executed in a distributed manner.

[0112] The apparatus and methods described above may be embodied in hardware components, software components, and / or combinations of hardware and software components. For example, the apparatus and components described in each embodiment may be embodied using one or more general-purpose or special-purpose computers, such as a processor, controller, ALU (arithmetic logic unit), digital signal processor, microcomputer, FPA (field programmable array), PLU (programmable logic unit), microprocessor, or any other device capable of executing and responding to instructions. The processing device can run an operating system (OS) and one or more software applications performed on the OS. The processing device can also access, store, manipulate, process, and generate data in response to software execution. While it has sometimes been described that a single processing device is used for convenience, a person with ordinary skill in the relevant art will understand that a processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing device may include multiple processors or one processor and one controller. Furthermore, other processing configurations, such as parallel processors, are also possible.

[0113] Software may include computer programs, code, instructions, or a combination of one or more of these, which can configure a processing unit to operate as desired, or issue instructions to the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual device, computer storage medium or device, or transmitted signal wave, for interpretation by a processing unit or for providing instructions or data to a processing unit. Software may be distributed across a network of computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

[0114] Furthermore, each embodiment of the present disclosure may be implemented in a distributed computing environment in which any task is performed by each remote processing unit connected via a communication network. In a distributed computing environment, program modules may reside in all local and remote memory storage devices.

[0115] As described above, each embodiment has been explained based on the limited drawings, but a person with ordinary skill in the relevant art can apply a variety of technical modifications and variations based on the above. For example, appropriate results can be achieved even if the described techniques are performed in a different order than described, and / or if the described components of the described system, structure, apparatus, circuit, etc. are combined or assembled in a different manner than described, or substituted or replaced by other components or equivalents.

[0116] Therefore, other embodiments, other embodiments, and claims equivalent to those described below also fall under the scope of the claims. [Explanation of symbols]

[0117] 100 Elevator Car 200 robots 300 Robot Control Systems 400 Elevator Car Control System 210, 310, 410 processors 220, 320, 420 memory 230 sensors 240, 340, 440 Communications Department 250 Drive unit 330, 430 Interface

Claims

1. The stage where a grouping request signal is received; The step of grouping multiple robots into one group in response to the aforementioned grouping request signal; A step of transmitting a grouping signal that includes information about each of the grouped robots; A step of transmitting a signal to the elevator car control system to notify each of the grouped robots; The step of moving each of the grouped robots to board the elevator car; The step of transmitting a hall call to the elevator car control system—the hall call including an indicator of the number of each grouped robot; The step of receiving a riding signal from one of the aforementioned multiple robots; and A control method by a robot control system, comprising the step of receiving a boarding completion signal from one of the aforementioned multiple robots.

2. The step of sending a hall call to the elevator car control system is: The step of receiving hall calls from the aforementioned multiple robots—the hall calls including robot information—and The control method according to claim 1, further comprising the step of filtering out overlapping hall calls from among the hall calls received from the plurality of robots based on the grouping signal and the hall call.

3. From the stage after the grouping request signal is received and multiple robots are grouped into one group, The control method according to claim 1, further comprising the step of transmitting a signal to select a robot to transmit the hall call to each of the grouped robots or to any one of the grouped robots.

4. Processor, and Includes memory configured to store each instruction word, When the aforementioned instruction is executed, the processor will: Receive a hall call that includes an indicator showing the number of two or more robots and the target floor; Based on the interior image of the elevator cars, determine the occupancy rate of each elevator car; Based on the occupancy rate of the elevator cars, an elevator car will be assigned to the hall call; Received a signal from the robot indicating that it was in use; Receiving a boarding completion signal from a robot different from the aforementioned robot; and An elevator car control system for moving the elevator car to the aforementioned target floor.

5. The elevator car control system according to claim 4, wherein the processor is configured not to assign the elevator car in response to a passenger's hall call after the elevator car has been assigned.

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