Lift system with robot control for dynamic car load

Abstract

In a building having a lift system (1) and at least one mobile robot (2), the lift system (1) can request at least one mobile robot (2) as an additional load for a lift car (10) if required. A counterweight unit (18), which is connected to the lift car (10) via a supporting cable device (16), has a weight which is smaller by a defined percentage than a sum of a permissible payload and a weight of the lift car (10). There is a need, in particular, for the lift car (10) to run empty in the downward direction.

Description

[0001] Elevator system with robot control for dynamic cabin load

[0002] Description

[0003] The technology described here generally relates to an elevator system in a building. Embodiments of the technology particularly relate to an elevator system in a building in which at least one mobile robot is movable horizontally and vertically, and to a method for operating such an elevator system.

[0004] Depending on the building and its use, tasks and services to be performed there can be automated. Mobile robots can be used, for example, to perform in-building delivery services (e.g., for food, mail, medication) and cleaning tasks. To perform these services and complete their tasks, the mobile robots can be transported between building floors by elevator systems. For example, WO 2021 / 180907 A1 describes how an elevator system can transport a mobile robot with a priority assigned to it or its transported goods.

[0005] Buildings may have different efficiency requirements, for example, they should be energy-efficient to operate and people should be able to move around the building comfortably and without delays. Along with other building facilities, elevator systems can contribute in various ways to meeting the requirements for energy efficiency and transport efficiency, especially if the building contains mobile robots. Therefore, in a building with an elevator system and at least one mobile robot, there is a need for a technology that improves the energy efficiency of an elevator system without negatively impacting transport efficiency.

[0006] One aspect of the technology described here relates to an elevator system in a building in which a mobile robot is present, which is configured to use the elevator system. The elevator system has an elevator control system, an elevator car, a counterweight unit, a load detection unit, elevator operating devices, and a communication interface device. The elevator car is suspended from the supporting cable device and can be moved between floors of the building under the control of the elevator control system, wherein the elevator car has a permissible payload. The counterweight unit is suspended from the supporting cable device and thus connected to the elevator car, wherein a weight of the counterweight unit is a specified percentage less than a sum of the permissible payload and a weight of the elevator car.The load detection unit is communicatively connected to the elevator controller and configured to determine the load of the elevator car. The elevator operating devices are communicatively connected to the elevator controller. The communication interface device is communicatively connected to the elevator controller and configured to send a first robot request message to a robot controller. The elevator controller is configured to determine a control signal for moving the elevator car from a starting floor to an end floor and to generate the first robot request message if, for moving the elevator car, a downward travel with an empty elevator car is to be performed. With the first robot request message, the elevator controller requests entry of the mobile robot into the elevator car on the starting floor in order to increase a payload in the elevator car.The payload in the elevator car is less than the permissible payload. The elevator control system is designed to initiate travel from the starting floor to the final floor after entry.

[0007] Another aspect of the technology relates to a method for operating one of these elevator systems. According to the method, the elevator controller determines a control signal for moving the elevator car and a travel of the elevator car from a starting floor to an end floor, a travel direction, and, using the load detection unit, a load of the elevator car. The elevator controller generates a first robot request message if, according to the determined load, the travel is essentially an empty run in the downward direction. The first robot request message requests entry of the mobile robot into the elevator car on the starting floor in order to increase a payload in the elevator car, wherein the payload in the elevator car is less than the permissible payload. The first robot request message is sent to a robot controller via the communication interface device.According to the method, the elevator car is also moved according to the control signal when the load detection unit detects that the mobile robot is in the elevator car.

[0008] The technology described here creates an elevator system with improved energy efficiency without negatively impacting the transport efficiency of the elevator system. This is helped by the fact that the elevator system can request additional loading of an elevator car by a robot when necessary. This need arises, for example, when the elevator car has to travel downwards without the elevator car being loaded by a person or transport goods; such a trip is referred to as an empty trip. Since the weight of the counterweight unit is a specified percentage less than the sum of the permissible payload and the weight of the elevator car, the elevator car without a load is considerably lighter than the counterweight unit, meaning that the counterweight unit can pull the empty elevator car upwards without the assistance of the drive unit.In contrast to an empty run in the upward direction, an empty run in the downward direction requires electrical energy, making such an empty run unfavorable from an energy perspective. The elevator control system is therefore designed to generate a robot request message when an empty run in the downward direction is to be performed and additional loading by at least one robot is advantageous from an energy perspective. By additionally loading the elevator car with at least one robot, it can be achieved that the elevator car is heavier than the counterweight unit, thus requiring less electrical energy to move the elevator car.

[0009] Depending on the building, there may be a large number of robots distributed across the building's floors. Depending on the robot and the service it performs, a robot may require a ride on the elevator system in either an upward or downward direction. With this number of robots, there is a relatively high probability that at any given time a robot on an upper floor will require a downward ride (immediately, within a specific time window, or at a specific time) or will be inactive on that floor and could be transported to a lower floor. The technology described here utilizes these robots to increase the elevator car load when needed, particularly during a downward ride.In one embodiment applicable in conjunction with any of the embodiments disclosed in this description, the elevator controller is configured to determine the control signal in response to an elevator call input at a call input floor or an activation signal generated by a maintenance software routine of the elevator system. For example, the control routine can control the elevator system such that the elevator car is moved at specific times (e.g., at night) or periodically, independent of an elevator call, for example, to prevent jamming or other damage. Depending on the building, the control routine can, for example, be configured such that all or a specified number of elevator cars are moved to an entrance floor at the level of a building entrance at night so that they are ready for upward travel in the morning at the start of office hours and during peak traffic.The movements initiated by the control routine can therefore also include empty movements in the downward direction. The technology described here can be used both for empty movements required by an elevator call and for empty movements initiated by an activation signal.

[0010] In one embodiment applicable in conjunction with one of the embodiments disclosed in this description, the elevator control system is configured to query the load detection unit for the loading of the elevator car in order to determine the control signal for moving the elevator car. The load detection unit is configured to determine the load of the elevator car. It is advantageous that the load detection unit or its functionality can be implemented in different ways. For example, a load measuring device already present in the elevator system can be used, or an optical measuring device (e.g., a video device) can be installed.

[0011] In one embodiment applicable in conjunction with one of the embodiments disclosed in this description, the elevator controller is configured to generate a second robot request message when transport costs for a trip in the upward direction are less than a threshold value. The elevator controller uses the second robot request message to request entry of the mobile robot into the elevator car on a floor where the elevator car is in standby mode. The communication interface device is configured to send the second robot request message to the robot controller. Depending on the building and the number of robots present, the technology described here makes it possible to transport a robot to an upper floor so that a robot is also available on an upper floor (or several upper floors) if needed.This transport takes place when the transport costs are less than the threshold.

[0012] In an embodiment applicable in conjunction with one of the embodiments disclosed in this description, the elevator controller is configured to determine the transportation costs as a function of energy costs, wherein the threshold value indicates a peak tariff of the energy costs per unit of energy, the peak tariff being set by a utility company. Depending on the utility company, the energy costs per unit, e.g., kWh, can be calculated using a peak tariff or an off-peak tariff. The off-peak tariff is typically applied at times when demand for electrical energy is low, such as at night. With the technology described here, a robot can be transported upwards when a peak tariff is not applicable and is therefore "cheap."

[0013] In an embodiment applicable in conjunction with any of the embodiments disclosed in this description, the communication interface device is configured to receive from the robot controller, in response to the second robot request message, a status signal indicating whether the mobile robot is available on the starting floor at which the elevator car is in standby mode. If the mobile robot is available, the elevator controller is configured to control a car door of the elevator car to open the car door, detect entry by the load detection unit, and move the elevator car loaded with the mobile robot to a floor. If the mobile robot is not available, the elevator controller is configured to leave the elevator car in standby mode.The communication between the mobile robot and the elevator system, especially the status signal, enables the elevator system to determine whether it is available for an upward travel. Based on this, the elevator system decides whether the upward travel with the mobile robot will be carried out or not.

[0014] In an embodiment applicable in conjunction with any of the embodiments disclosed in this description, the communication interface device is configured to receive from the robot controller, in response to the first robot request message, a status signal indicating whether the mobile robot is available at the starting floor. If the mobile robot is available, the elevator controller is configured to control the elevator car, open its car door at the starting floor, detect entry by the load detection unit, and move the elevator car loaded with the mobile robot according to the control signal. If the mobile robot is not available, the elevator controller is configured to move the elevator car according to the control signal.The communication between the mobile robot and the elevator system, especially the status signal, enables the elevator system to determine whether it is available for a downward travel. Based on this, the elevator system decides whether the downward travel will be performed with or without the mobile robot.

[0015] In one embodiment applicable in conjunction with one of the embodiments disclosed in this description, the elevator controller is configured to generate a robot release message, wherein the communication interface device is configured to send the robot release message to the robot controller, wherein the elevator controller uses the release message to request that the mobile robot exit the elevator car. With the technology described here, the elevator controller can decide on which floor the mobile robot should leave the elevator car. This floor can be the final floor or a floor located between the start and final floors, for example, because a person has entered an elevator call there and the elevator car stops there, and space is needed for the person.

[0016] Various aspects of the improved technology are explained in more detail below using exemplary embodiments in conjunction with the figures. In the figures, like elements have like reference numerals. They show: Fig. 1 is a schematic representation of an exemplary elevator system in a multi-story building with mobile robots; and

[0017] Fig. 2 is an exemplary representation of an embodiment of a method for operating the elevator system.

[0018] Fig. 1 is a schematic representation of an exemplary elevator installation 1 with an elevator control unit 12 (EC), a counterweight unit 18, a drive machine 14 (M), and a suspension cable device 16 (e.g., comprising steel cables or flat belts). The elevator installation 1 is installed in a building with multiple floors L1, L2, L3, on which at least one mobile robot 2 (hereinafter also referred to as "robot 2") can move independently. The building can be any type of multi-story building (e.g., a residential building, a hotel, an office building, a sports center, or a building that includes several of the aforementioned building types or their usage types). Furthermore, the elevator installation 1 can be installed on a ship.

[0019] The elevator installation 1 serves floors LI, L2, L3. If a person 8 on a floor LI, L2, L3 inputs an elevator call using an elevator operating device 4, the elevator control system 12 initially controls the elevator installation 1 so that the person 8 can board the elevator car 10 on this floor (boarding floor). The elevator car 10 can be ready at the boarding floor, so that only the car and shaft doors need to be opened, or it may be necessary to first move it to the boarding floor. The elevator car 10 is then moved from the boarding floor to a destination floor. Further details of the elevator installation 1 are provided elsewhere in this description.

[0020] Fig. 1 shows that several robots 2 can be present in the building. For illustration, the robots 2 are shown in different designs, e.g. their construction can be modeled on the human form (humanoid robot) or the basic structure of a vehicle / cart. In one embodiment, each mobile robot 2 is designed to perform a service in the building, e.g. a delivery service, a waste disposal service, a cleaning service or a combination of these example services. To perform the service, the robot 2 can move horizontally on a floor LI, L2, L3; if the execution of the service requires a change of floor LI, L2, L3, the robot 2 can request transport by the elevator system 1.In one embodiment, this transport request is transmitted to the elevator system 1, which processes the transport request of the robot 2 analogously to an elevator call from a person 8. The processing of an elevator call is known to those skilled in the art and is explained below by way of example.

[0021] The mobile robot 2 and the service can be independent of the elevator system 1 and can be operated independently of it accordingly. In one embodiment, a service provider (e.g., a building management company or a manufacturer / supplier of the robot 2) provides the mobile robot 2 in the building. Several mobile robots 2 can be independent of one another; alternatively, they can form a robot system controlled by a central robot control device 20. When programmed and / or controlled accordingly, a robot 2 can perform its service essentially autonomously; for this purpose, the robot 2 has, for example, a power supply (rechargeable battery module) and navigation functionality that uses, for example, a global navigation system (e.g., GPS) and / or a building navigation system in conjunction with a stored building map (e.g., with location data (coordinates, distances)) for possible destinations in the building.For a robot 2, a charging station can be provided at a specified location (base station) where the battery module can be charged. The robot 2 can independently approach this base station, for example, to charge the battery module and / or after completing a service.

[0022] For example, a cleaning robot can be programmed to clean one or more floors LI, L2, L3 at set times or to regularly clean a hotel room. In a hotel, a delivery robot can, for example, be commissioned / controlled by the hotel reception to deliver a delivery (e.g., food and drinks) to a hotel guest in their room. When commissioned, the time when the service is to be performed can be specified for robot 2 (e.g., depending on the foot traffic in the building or the type of delivery); for example, a food delivery is usually carried out promptly, while waste disposal can wait (possibly until there is little or no foot traffic in the building at night). Depending on the design of robot 2, it can return to the base station after completing a service or remain at another location.

[0023] A person skilled in the art will recognize that the robots 2 (each controlled by a control unit 20a of the robot 2 (hereinafter also referred to as the (internal) robot control device 20a (labeled "pP" in Fig. 1)) can be located at different locations in the building and in different operating states at any given time. In an active operating state, a robot 2, for example, performs a service and may therefore be unavailable during this time. If the robot 2 is inactive, it can be available at a location; the robot 2 may be available to perform a service (e.g., at the base station) or unavailable due to a malfunction (e.g., a mechanical problem or a low battery charge). Data on these (current or past) locations and operating states can be managed and stored centrally inside or outside the building, e.g.,in the central robot control device 20 in the building in the form of a digital logbook with individual robot data entries and associated time information (e.g., date, time). The central robot control device 20 can therefore determine where and in which operating state a robot 2 is located at a specific time. Alternatively or additionally, in another embodiment, each robot 2, controlled by its (internal) robot control device 20a, can store its own digital logbook in a robot-internal storage device and, when needed (e.g., upon receiving a service request), transmit its current status data to a sender of a service request (e.g., the central robot control device 20 or hotel reception).

[0024] In one embodiment, each robot 2 is based on a commercially available robot structure or technology, e.g., from ST Engineering Aethon, Inc., USA. Such a robot 2 typically has a power supply (e.g., a rechargeable battery module), a specific drive technology (e.g., an electric motor in conjunction with a set of driven wheels), sensors (e.g., IR, radar, or optical camera sensors), a communication interface device (e.g., touchscreen and / or radio device for manual or contactless programming and job / destination input on the robot 2 or remotely), a navigation device, and, depending on the intended use, one or more actuators for gripper arms or tools and / or one or more containers for picking up and transporting goods according to a specified payload. The general operation of the robot 2, e.g.,regarding programming, order entry and navigation, is known to a specialist in the field of mobile robotics.

[0025] Depending on the manufacturer, size, and intended use, a mobile robot 2 can have a weight (empty weight) of several tens of kg; for example, the empty weight can be between approximately 50 and approximately 70 kg. Thus, an unloaded robot 2 weighs approximately slightly less than an average person 8. A robot 2 loaded according to its intended use can weigh several hundred kilograms, corresponding to the weight of, for example, 3-4 people 8. The empty weight of the robot 8 can be stored in its memory device; it can also be stored in the elevator system 1. If the internal robot control device 20a causes the robot 8 to transmit a status signal, information about its current weight (empty weight or total weight) can be included in the status signal. Depending on the design, information about the current weight of the robot 8 can be stored in the central robot control device 20.

[0026] In one embodiment, a separate communication system can be provided in the building for the robot system. The communication system enables communication between the central robot control device 20 and the individual robots 2. In one embodiment, as shown in Fig. 1, the communication system comprises a plurality of radio devices 28, which are arranged on the floors LI, L2, L3 and are communicatively connected to the central robot control device 20. The robots 2 are equipped with corresponding radio devices so that communication takes place wirelessly, for example according to a WiFi / WLAN or Bluetooth communication standard. If a robot 2 is located on a floor LI, L2, L3 within radio range of a radio device 28, the robot 2 can, for example, send a status signal to the central robot control device 20 and receive a control signal from it, for example a robot request message.With the status signal, the robot 2 can, for example, register itself with the central robot control device 20 as being present on the floor LI, L2, L3.

[0027] In the elevator installation 1 shown in Fig. 1, the counterweight unit 18 is connected to the elevator car 10 by means of the suspension cable device 16 guided over a traction sheave. The traction sheave is driven by the drive machine 14, whereby the load to be moved by the drive machine 14 is determined by the difference between the weight of the elevator car 10 including its load (passengers and / or freight / goods) and the weight of the counterweight unit 18. Typically, the counterweight unit 18 compensates for approximately 50% of the permissible payload plus the car weight. The compensation can also be lower, for example, less than 30 or 40%. With 50% compensation, the maximum load to be moved by the drive machine 14 is 50% of the permissible payload.This is the case when the elevator car 10 is either loaded to its maximum capacity, so that the elevator car 10 is heavier than the counterweight unit 18, or when the elevator car 10 is completely empty, so that the counterweight unit 18 is heavier than the elevator car 10 and (with the parking brake released) can pull the elevator car 10 upwards solely due to its potential energy.

[0028] The loading of the elevator car 10 can be carried out using a load detection unit 11. In the exemplary embodiment shown in Fig. 1, it is indicated that the load detection unit 11 can comprise a load measuring device (represented by a symbol for a scale) and / or a camera device (represented by a symbol for a camera). The load detection unit 11 determines a measure of the load of the elevator car 10, which is available to the elevator control 12. This measure covers a range between a minimum load (e.g., the elevator car 10 is empty) and a maximum load (e.g., the elevator car 10 is full (maximum number of persons or (maximum) permissible payload)). The load measuring device can be used, for example, to determine the load in the elevator car 10; this can then be used to determine the number of persons.An elevator car 10 is typically equipped with a load measuring device that detects, for example, a load that exceeds the permissible payload and generates a warning signal. The camera device can be used, for example, to count the people 8 (or objects) in the elevator car 10. At least one of the known measuring principles can be implemented in the camera device, e.g., categorized by optical range (visible, infrared) or evaluation (e.g., 3D camera). Those skilled in the art will recognize that several methods are available for determining the load and that the functionality of the load detection unit 11 can be implemented entirely or partially in the elevator control system 12.

[0029] The elevator system 1 can be equipped with a known control technology, a direction control technology or a destination call control technology. For the direction control technology, the elevator operating devices 4 can be equipped with up / down buttons so that the person 8 can enter a desired direction of travel on a floor LI, L2, L3. For the destination call control technology, the elevator operating devices 4 can have, for example, a keyboard or a touch-sensitive screen (each with floor buttons) so that the person 8 can enter a desired destination floor on a floor LI, L2, L3. By entering the direction of travel or the destination floor, an elevator call (in the case of up / down buttons, a direction call, otherwise a destination call) is registered. Furthermore, it is known that the person 8 can use a correspondingly designed mobile radio device 4a to enter an elevator call; in Fig.1, person 8 on floor LI has a mobile device 4a. The mobile device 4a is equipped, for example, with a software application (app) for elevator operation. The app, among other things, generates a graphical user interface that displays the mobile device 4a to enable interaction between person 8 and the mobile device 4a.

[0030] With an understanding of the above-described basic system components of the elevator installation 1 and their functionalities, the following describes an exemplary method for operating the elevator installation 1 shown in Fig. 1 with reference to Fig. 2. Fig. 2 shows an exemplary flowchart of the method; it begins in a step S1 and ends in a step S9. Those skilled in the art will recognize that the division into these steps is exemplary and that one or more of these steps can be divided into one or more sub-steps, that several of the steps can be combined into one step, or that further steps can be present.

[0031] The method is described with reference to the situation in the building shown in Fig. 1, in which several robots 2 are present and distributed across the floors L1, L2, L3. Those skilled in the art will recognize that the exemplary embodiment of the method described here is not limited to the multiple robots 2 shown, but can also be described with fewer or a single robot 2. The elevator installation 1 can be equipped with destination call control technology or direction control technology. Elevator calls can be entered by the persons 8 at the elevator operating devices 4 or via mobile radio devices 4a. The counterweight unit 18 compensates for approximately 50% of the permissible payload and the car weight.

[0032] The description is based on an example of a received elevator call. In another embodiment, an activation signal can be received that generates a control routine of the elevator installation 1. The control routine can control the elevator installation 1 such that the elevator car 10 is moved at specific times (e.g., at night) or periodically, independently of an elevator call. This can be provided in the elevator installation 1 to prevent jamming, deformation, e.g., of the suspension cable device 16, or other damage that may occur when the elevator installation 1 is stationary for an extended period. Depending on the building, the control routine can be designed such that all or a specified number of elevator cars 10 are moved at night to a floor on which a main entrance of the building is located.This ensures that as many elevator cars as possible are available for upward travel in the morning at the start of office hours and during peak traffic. The same can be scheduled for a floor at the time an event ends. The trips initiated by the control routine can thus also include empty trips in the downward direction.

[0033] Each robot 2 has an individual identifier so that control signals and / or robot request messages can be sent to the robots 2 individually. Depending on the design of the robots 2, the identifier can also be included in a status signal that a robot 2 sends out. The central robot control device 20 can thus identify which robot 2 is sending out the status signal. At any given time, one or more robots can be in operation in the building.

[0034] 2 may be in a standby mode, during which they are not moving but are in principle available to perform a service. One or more robots 2 may also be in an active mode, during which they are moving and / or performing one or more services and may therefore not be available for further assignment at this time. Depending on the design of the robots 2, a robot 2 may transmit its status according to a specified rule (e.g., periodically) or in response to a robot request message. In one design, the robots 2 transmit their status information together with location information (e.g., standby mode, floor, destination), and the central robot control device stores the status information and location information for each robot 2 as a data record in a storage device. The central robot control device 20 can thus determine, for example, whether and at which location a robot 2 is available.

[0035] In step S2, an elevator call is received. Person 8 enters the elevator call, for example, at an elevator operating device 4. The elevator controller 12 receives the elevator call from the elevator operating device 4, in one embodiment, via the communications network 6, either as a point-to-point connection or using a network address of the elevator operating device 4. The elevator call thus received determines the location (floor) of the elevator operating device 4 and thus the floor LI, L2, L3 on which person 8 enters the elevator call. This floor LI, L2, L3 can be referred to as the call input floor. If destination call control technology is implemented, the elevator call can also indicate the destination floor desired by person 8.

[0036] In step S3, a direction of travel, a load of the elevator car 10, a starting floor, and an end floor are determined. When the elevator control system receives the elevator call, the elevator control system 12 determines the elevator car 10 that should serve the elevator call. If the elevator system 1 has multiple elevator cars 10, the elevator call is assigned to one of these elevator cars 10; otherwise, it is assigned to the single elevator car 10 shown in Fig. 1. An exemplary method for how an elevator call can be assigned to an elevator car 10 in conjunction with the destination call control technology is known to those skilled in the art and is briefly explained elsewhere in this description.

[0037] The assigned elevator car 10 may already be located on the call-in floor. In this case, the elevator car 10 is controlled to open its elevator door. Person 8 can then board, and the elevator car 10 will travel according to the elevator call (destination call) or a destination floor entered in the elevator car 10. Otherwise, the elevator car 10 must first be moved to the call-in floor, for example, because it is on standby on another floor L1, L2, L3 (standing floor). With respect to this travel of the elevator car 10, the control device 12 determines the standing floor as the starting floor and the call-in floor as the ending floor. In this case, there is usually no person 8 in the (empty) elevator car 10. The elevator control 12 determines such an empty elevator car 10 using the load detection unit 11.The movement of the empty elevator car 10 to the final floor therefore includes an empty run.

[0038] The empty elevator car 10 is significantly lighter than the counterweight unit 18. As explained above, the weight of the counterweight unit 18 is a fixed percentage smaller than the sum of the permissible payload and the weight of the elevator car 10. The counterweight unit 18 can therefore, for example, pull an empty elevator car 10 upward without the assistance of the drive unit 14. If the call entry floor is located below the starting floor, the empty elevator car 10 must be moved downwards with the assistance of the drive unit 14 against the weight of the counterweight unit 18. Such an empty run requires electrical energy, making it unfavorable from an energy perspective.

[0039] In step S4, it is determined whether the elevator car 10 designated for call operation is empty and whether the journey from the starting floor to the final floor is a downward journey. The elevator control system 12 uses the results determined in step S3 for this purpose. If both conditions are met, the process proceeds along the "yes" branch to step S5; otherwise, it proceeds along the "no" branch to step S8. In step S8, the elevator car 10 is then moved according to the elevator call. For example, it can be moved upwards if it is empty or occupied by at least one person 8, or downwards if it is not empty.

[0040] In step S5, a (first) robot request message is generated. The elevator controller 12 is configured to generate the robot request message when servicing the elevator call involves an empty run in the downward direction (see step S4) and additional loading by at least one robot 2 is advantageous from an energy perspective. In one exemplary embodiment, the robot request message indicates when and on which floor LI, L2, L3 one or more robots 2, or a corresponding load with a maximum weight, are required. By additionally loading with at least one robot 2, the elevator car 10, loaded with the at least one robot 2, can be heavier than the counterweight unit 18, and thus less electrical energy is required to move the elevator car 10.

[0041] In step S6, the robot request message generated in step S5 is sent to the robot controller. Depending on the configuration of the robot system, the elevator controller 12 can send the robot request message to the central robot control device 20, which checks, for example, using stored status information, whether a robot 2 is available on the starting floor according to the robot request message. If at least one robot 2 is available on the starting floor, the central robot control device can control the available robot 2 to move into the elevator car 10 that is ready for entry (or ready at a specific time). Alternatively, the elevator controller 12 can send the robot request message on the starting floor. If a robot 2 is available there, the robot controller 20a of the available robot 2 can respond and move the robot 2 into the elevator car 10 that is ready for entry.

[0042] In step S7, a check is made to determine whether robot 2 is in elevator car 10. This can be detected by load detection unit 11, or by communication between robot 2 and elevator controller 12 or central robot control device 20. Those skilled in the art will recognize that load detection unit 11 also issues a warning when the permissible payload has been reached. If robot 2 is in elevator car 10, the method proceeds along the "yes" branch to step S8; otherwise, the method waits until this is the case (loop along the "no" branch). In step S8, elevator car 10, which is loaded with at least one robot 2, is then moved downwards to the final floor. There, the robot 2 or robots 2 can leave elevator car 10 to make room for person 8.

[0043] In one embodiment, the elevator controller 12 is configured to generate a robot release message, which the communication interface device 30 sends to the robot controller 20 (or 20a). With the release message, the elevator controller 12 requests that the mobile robot 2 exit the elevator car 10. With the technology described here, the elevator controller 12 can decide on which floor the mobile robot 2 should leave the elevator car 10. This floor can be the final floor or a floor located between the start and final floors, for example, because a person 8 has entered an elevator call there and the elevator car 10 stops there, and space is needed for the person 8.If the elevator car 10 continues its downward travel after stopping (for example, if the elevator call received in step S2 is a destination call), a robot 2 can remain in the elevator car 10 if this is advantageous from an energy perspective and the current payload permits. The method ends in step S9.

[0044] In one embodiment, a further use of the mobile robot 2 may be provided in the building; this use may be in addition to the use described in connection with Fig. 2. The elevator controller 12 may be configured to generate a second robot request message if transport costs for a trip in the upward direction are less than a threshold. With the second robot request message, the elevator controller 12 requests entry of the mobile robot 2 into the elevator car 10 on a floor L1, L2, L3 on which the elevator car 10 is in standby mode. The communication interface device 30 is configured to send the second robot request message to the robot controller 20 (or 20a).Depending on the building and the number of robots 2 available, the technology described here makes it possible to transport one or more robots 2 to an upper floor so that a robot 2 is available on an upper floor (or several upper floors) if required.

[0045] This transport takes place when the transport costs are less than the threshold.

[0046] In this embodiment, the elevator controller 12 determines the transportation costs as a function of energy costs. Energy costs include the cost of electrical energy per unit, e.g., kWh. The utility company that supplies the building with electrical energy sets the price(s) (tariffs) for the supplied unit of energy, for example, as a peak tariff or off-peak tariff. A standard tariff may also be set in between. The off-peak tariff is typically applied at times when demand for electrical energy is low, such as at night. If, however, demand is high, the peak tariff applies. With the technology described here, a robot 2 can be transported upwards when peak tariffs are not in effect, making it "cheap."

[0047] The communication interface device 30 is configured to receive a status signal from the robot controller 20 (or 20a) in response to the second robot request message, indicating whether the mobile robot 2 is available on the starting floor where the elevator car 10 is in standby mode. If the robot 2 is available, the elevator controller 12 is configured to control a car door of the elevator car 10 to open the car door, detect entry by the load detection unit 11, and move the elevator car 10, which is then loaded with the mobile robot 2, to an upper floor. However, if the mobile robot 2 is not available, the elevator controller 12 is configured to leave the elevator car 10 in standby mode.

[0048] Further details of the elevator installation 1 shown in Fig. 1 are given below. The elevator control 12 comprises components (e.g., computers, processors, memory devices) and associated control and computer programs that execute the described functions and / or participate in their execution. Those skilled in the art will recognize, for example, that one or more functions of a destination call control can be executed in or by one or more elevator operating devices 4. The destination call control executes an allocation method, the principle of which is described, for example, in the following publication: Koehler, Jana, et al., An AI-Based Approach to Destination Control in Elevators, AI Magazine, Vol. 23, No. 3, 2002, pp. 59-78.Upon receipt of a destination call, from which the call input floor and the destination floor are input, the allocation process uses so-called job managers, calculates "costs," and applies one or more cost functions to determine the elevator that can best serve the elevator call, i.e., most cost-effectively, from "offers" of elevators that could serve an elevator call. The communication network 6 connects the floor-side elevator operating devices 4 to the elevator controller 12, thereby enabling communication between the elevator controller 12 and the elevator operating devices 4. For this communication, the elevator operating devices 4 and the elevator controller 12 can be connected directly or indirectly to the communication network 6. The communication network 6 can comprise a communication bus system, individual data lines, or a combination thereof.Depending on the implementation of the communication network 6, the elevator control 12 and each elevator operating device 4 can be assigned individual addresses and / or identifiers, so that, for example, the elevator control 12 can send a message specifically to a desired elevator operating device 4. Communication can take place according to a protocol for wired communication, for example, the Ethernet protocol. In one embodiment, the elevator operating devices 4 are supplied with electrical energy via the communication network 6.

[0049] An elevator operating device 4 can be configured in various ways; in particular, it can be configured for one or more types of interactions with the person 8 and possibly with a robot 2. In connection with the input of an elevator call, it may be necessary for both the person 8 and the robot 2 to be authorized to use the elevator system 1 or to access a floor LI, L2, L3. To verify authorization, a credential may be provided, which the person 8 must present when inputting the call; this may also apply to a robot 2, whereby the person skilled in the art will recognize that the type of credential is adapted to the use by the robot 2.

[0050] In the building system, a credential is typically assigned to a person 8 or group of people (e.g., in a database for user profiles) and must be presented by the person 8 at the entrance to a restricted-access zone, e.g., for using the elevator system 1. The credential can be stored as a password (code) on an information carrier (e.g., in a chip of a chip card, a magnetic stripe of a magnetic stripe card, or a memory of a mobile phone) or represented (e.g., as an optical code in the form of a QR code, a barcode, or a color code). For a person 8, the credential can, in one embodiment, be a biometric feature, e.g., a fingerprint pattern or a facial pattern of the person 8.

[0051] The elevator operating device 4 can be adapted to the authorization credential(s) to be used in the building. In one embodiment, the elevator operating device 4 can have an optical reading device (e.g., a digital camera) to capture an optical code from an information carrier, for example. The information carrier can be designed, for example, in the form of a credit card-shaped employee ID card or similar; in another embodiment, a mobile phone (or a similar electronic device) of the person 8, which displays the optical code on a screen, serves as the information carrier. In one embodiment, the digital camera can be used to capture a biometric authorization credential. The captured biometric authorization credential can then be used in conjunction with a recognition device and stored biometric data of persons registered in the building to determine access authorization, e.g.using facial recognition.

[0052] Additionally or alternatively, the elevator operating device 4 may include a radio-based reading device that reads the authorization credential, for example, from a chip of an RFID transponder. The RFID transponder may be, for example, an employee ID card or similar, a mobile phone, or an RFID device in the robot 2. In one exemplary embodiment, the radio-based reading device may be configured for communication with the mobile phone or the RFID device using near-field communication (NFC) or Bluetooth technology. In one exemplary embodiment, for example, the mobile phone transmits the (electronic) authorization credential to the radio-based reading device using Bluetooth technology as soon as the mobile phone is within radio range of the reading device.

Claims

Patent claims 1. Elevator installation (1) in a building in which a mobile robot (2) is present, which is designed for use of the elevator installation (1), comprising: an elevator control (12); an elevator car (10) which is suspended from a supporting cable device (16) and controlled by the elevator control (12) and can be moved between floors (L1, L2, L3) of the building, wherein the elevator car (10) has a permissible payload; a counterweight unit (18) which is suspended from the supporting cable device (16) and thus connected to the elevator car (10), wherein a weight of the counterweight unit (18) is less than a sum of the permissible payload and a weight of the elevator car (10) by a predetermined percentage; a load detection unit (11) which is communicatively connected to the elevator control (12) and designed to determine a load of the elevator car (10); Elevator operating devices (4) that are communicatively connected to the elevator control (12); and a communication interface device (30) that is communicatively connected to the elevator control (12) and configured to send a first robot request message to a robot controller (20, 20a), wherein the elevator control (12) is configured to determine a control signal for moving the elevator car (10) from a starting floor to an end floor and to generate the first robot request message if, for moving the elevator car (10), a downward travel with an empty elevator car (10) is to be carried out, wherein the elevator control (12) requests, with the first robot request message, entry of the mobile robot (2) into the elevator car (10) on the starting floor in order to increase a payload in the elevator car (10), wherein the payload in the elevator car (10) is less than the permissible payload,and wherein the elevator control (12) is designed to initiate the travel from the starting floor to the final floor after entry., 2. Elevator installation (1) according to claim 1, wherein the elevator control (12) is designed to output the control signal in response to an elevator call input on a call input floor or an activation signal which triggers a maintenance software routine - TI - generated by the elevator system (1).

3. Elevator installation (1) according to claim 1 or 2, wherein the elevator control (12) is designed to query the load detection unit (11) after the loading of the elevator car (10) in order to determine the control signal for moving the elevator car (10).

4. Elevator installation (1) according to one of the preceding claims, wherein the elevator controller (12) is designed to generate a second robot request message when transport costs for a trip in the upward direction are less than a threshold value, wherein the elevator controller (12) requests with the second robot request message an entry of the mobile robot (2) into the elevator car (10) on a floor on which the elevator car (10) is in a standby mode, wherein the communication interface device (30) is designed to send the second robot request message to the robot controller (20, 20a).

5. Elevator installation (1) according to claim 4, wherein the elevator control (12) is designed to determine the transport costs as a function of energy costs, wherein the threshold value indicates a high tariff of the energy costs per unit of energy, wherein the high tariff is set by an energy supply company.

6. Elevator installation (1) according to claim 4 or 5, wherein the communication interface device (30) is configured to receive from the robot controller (20, 20a) in response to the second robot request message a status signal indicating whether the mobile robot (2) is available on the starting floor on which the elevator car (10) is in standby mode, and wherein the elevator controller (12) is configured, when the mobile robot (2) is available, to control a car door (10a) of the elevator car (10) to open the car door (10a), to detect an entry by the load detection unit (11), and to move the elevator car (10) loaded with the mobile robot (2) to a floor, and when the mobile robot (2) is not available, to move the elevator car (10) to remain in standby mode.

7. Elevator installation (1) according to one of the preceding claims, wherein the communication interface device (30) is designed to receive a status signal from the robot controller (20, 20a) in response to the first robot request message, which status signal indicates whether the mobile robot (2) is available on the starting floor, and wherein the elevator controller (12) is designed, if the mobile robot (2) is available, to control the elevator car (10), to open its car door (10a) on the starting floor, to detect an entry by the load detection unit (11), and to move the elevator car (10) loaded with the mobile robot (2) according to the control signal, and if the mobile robot (2) is not available, to move the elevator car (10) according to the control signal.

8. Elevator installation (1) according to one of the preceding claims, wherein the elevator control (12) is designed to generate a robot release message, wherein the communication interface device (30) is designed to send the robot release message to the robot control (20, 20a), wherein the elevator control (12) requests an exit of the mobile robot (2) from the elevator car (10) with the release message.

9. A method for operating an elevator installation (1) in a building with a mobile robot (2) according to one of claims 1-8, wherein the elevator installation (1) has an elevator control (12), an elevator car (10) with a permissible payload, a counterweight unit (18), a load detection unit (11), elevator operating devices (4) and a communication interface device (30), wherein a weight of the counterweight unit (18) is a predetermined percentage less than a sum of the permissible payload and a weight of the elevator car (10), comprising: Determining by the elevator control (12) a control signal for moving the elevator car (10); Determining by the elevator control (12) a travel of the elevator car (10) from a starting floor to an end floor, a travel direction and by means of the Load detection unit (11) of a load of the elevator car (10); generation by the elevator control (12) of a first Robot request message if the journey according to the determined load is essentially an empty journey in the downward direction, wherein the first robot request message requests an entry of the mobile robot (2) into the elevator car (10) on the starting floor in order to increase a payload in the elevator car (10), wherein the payload in the elevator car (10) is smaller than the permissible payload; Sending, by the communication interface device (30), the first robot request message to a robot controller (20, 20a); and Moving the elevator car (10) according to the control signal when the load detection unit (11) detects that the mobile robot (2) is in the elevator car (10).

10. The method according to claim 9, wherein the control signal is determined in response to an elevator call input on a call input floor or an activation signal generated by a maintenance software routine of the elevator installation (1).

11. The method according to claim 9 or 10, further comprising generating, by the elevator controller (12), a second robot request message when transport costs for a trip in the upward direction are less than a threshold value, wherein the elevator controller (12) requests, with the second robot request message, an entry of the mobile robot (2) into the elevator car (10) on a floor on which the elevator car (10) is in a standby mode, and sending, by the communication interface device (30), the second robot request message to the robot controller (20, 20a).

12. The method according to claim 11, further comprising determining by the elevator control (12) the transportation costs as a function of energy costs, wherein the threshold value indicates a high tariff of the energy costs per unit of energy, wherein the high tariff is set by an energy supply company.

13. The method according to claim 10 or 11, further comprising: Received by the communication interface device (30) of a Status signal from the robot controller (20, 20a) in response to the second robot request message, wherein the status signal indicates whether the mobile robot (2) is available on the starting floor on which the elevator car (10) is in standby mode, if the mobile robot (2) is available, controlling a car door (10a) of the elevator car (10) to open the car door (10a), detecting by the load detection unit (11) an entry of the mobile robot (2) into the elevator car (10), and moving the elevator car (10) loaded with the mobile robot (2) to a floor, and if the mobile robot (2) is not available, leaving the elevator car (10) in standby mode.

14. The method according to any one of claims 9 - 13, further comprising: receiving, by the communication interface device (30), a status signal from the robot controller (20, 20a) in response to the first robot request message, the status signal indicating whether the mobile robot (2) is available on the starting floor, if the mobile robot (2) is available, controlling the elevator car (10) to open its car door (10a) on the starting floor, detecting, by the load detection unit (11), an entry of the mobile robot (2) into the elevator car (10), and moving the elevator car (10) loaded with the mobile robot (2) according to the control signal, and if the mobile robot (2) is not available, moving the elevator car (10) according to the control signal.

15. The method according to any one of claims 9 - 14, further comprising generating a robot release message by the elevator controller (12), wherein the communication interface device (30) is configured to send the robot release message to the robot controller (20, 20a), wherein the elevator controller (12) requests an exit of the mobile robot (2) from the elevator car (10) with the release message.

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