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JP2006089262A - Elevator getting on/off system for autonomous mobile robot - Google Patents

Elevator getting on/off system for autonomous mobile robot Download PDF

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JP2006089262A
JP2006089262A JP2004279756A JP2004279756A JP2006089262A JP 2006089262 A JP2006089262 A JP 2006089262A JP 2004279756 A JP2004279756 A JP 2004279756A JP 2004279756 A JP2004279756 A JP 2004279756A JP 2006089262 A JP2006089262 A JP 2006089262A
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elevator
mobile robot
autonomous mobile
person
elevator car
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JP4655566B2 (en
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Hisato Nakajima
久人 中嶋
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Panasonic Electric Works Co Ltd
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Matsushita Electric Works Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To make safely and exclusively sharable an elevator between an autonomous mobile robot and general people in an elevator getting on/off system for the autonomous mobile robot. <P>SOLUTION: This elevator getting on/off system 1 comprises an elevator device 2 and the autonomous mobile robot 3 getting on/off an elevator car 22 and autonomously moving in areas across a plurality of floors. The elevator device 2 comprises an elevator control part 20 controlling the entire of the elevator, radio communication means 25 and 26 communicating with the autonomous mobile robot 3, and a person detection means 4 installed in the elevator car 22 and detecting the presence or absence of a person in the car. When the autonomous mobile robot 3 gets on the elevator car 22, the elevator control part 20 checks by the person detection means 4 whether a person is present or not in the elevator car 22. When the elevator control part detects a person, it does not move the elevator car 22 but prompts the person to get off the elevator car 22 by giving a warning to the person by using a voice generating device 5 and a warning display 6. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、自律移動ロボット用のエレベータ乗降システムに関する。   The present invention relates to an elevator boarding / alighting system for an autonomous mobile robot.

従来、自律移動ロボットにエレベータを使用させる技術が開発されている。エレベータは多くの場合、人と共用される。人と自律移動ロボットが共用するエレベータに関し、円滑なエレベータ利用上の観点から、自律移動ロボットに特定波長発光装置を備え、エレベータ籠内に前記特定波長付近の光のみ透過する特定波長フィルタ及び監視カメラを備え、エレベータ扉が開いている場合は、特定波長フィルタと監視カメラを用いて自律移動ロボットの位置を計測し、エレベータ扉が閉じている場合は、監視カメラによりエレベータ籠内の人や物体の認識を行うエレベータ籠内物体認識装置が知られている（例えば、特許文献１参照）。
特開２００３−８１５４４号公報 Conventionally, a technique for causing an autonomous mobile robot to use an elevator has been developed. Elevators are often shared with people. With regard to an elevator shared by humans and autonomous mobile robots, from the viewpoint of smooth elevator use, the autonomous mobile robot is provided with a specific wavelength light emitting device, and a specific wavelength filter and a monitoring camera that transmit only light in the vicinity of the specific wavelength in the elevator car If the elevator door is open, the position of the autonomous mobile robot is measured using a specific wavelength filter and a surveillance camera.If the elevator door is closed, the surveillance camera detects the person or object in the elevator car. An elevator cabin object recognition device that performs recognition is known (see, for example, Patent Document 1).
JP 2003-81544 A

しかしながら、上述した特許文献１に示されるようなエレベータ籠内物体認識装置においては、人とロボットがエレベータ籠内に同乗できることを前提としており、安全上の問題を払拭できない。特に、病院、オフィス、公共施設などの一般の人々が利用する建物内のエレベータを自律移動ロボットが使用する場合、一般の人々が、自律移動ロボットとエレベータを共用することになり、高度な安全上の配慮が必要である。   However, in the elevator car object recognition apparatus as shown in Patent Document 1 described above, it is assumed that a person and a robot can ride in the elevator car, and safety problems cannot be eliminated. In particular, when an autonomous mobile robot uses an elevator in a building that is used by ordinary people such as hospitals, offices, and public facilities, the ordinary people share the autonomous mobile robot and the elevator. Consideration is necessary.

そこで、本発明の出願人は、自律移動ロボットが、エレベータ籠内に人が存在しないことを確認した上でエレベータ籠内に乗込み、エレベータ籠を一時的に独占使用する、いわゆる排他的に共用するシステムを提案している（特願２００３−２８７８０３号）。しかしながらこの方式において、扉幅の広いエレベータ籠では、自律移動ロボットがエレベータ籠に乗り込む際に、誤って人が一緒に乗り込む可能性があり、この場合、独占使用ができなくなり、安全上、問題がある。   Therefore, the applicant of the present invention confirms that there is no person in the elevator car after the autonomous mobile robot has entered the elevator car, and uses the elevator car temporarily exclusively, so-called exclusive sharing Has been proposed (Japanese Patent Application No. 2003-287803). However, in this system, with an elevator fence with a wide door, when an autonomous mobile robot gets into the elevator fence, there is a possibility that people may accidentally get in with it. is there.

本発明は、上記課題を解消するものであって、自律移動ロボットがエレベータ籠に乗り込んだときに人が検出されない場合に初めてエレベータ籠の昇降ができるようにして、自律移動ロボットが一般の人々とエレベータを安全に排他的に共用できる自律移動ロボット用のエレベータ乗降システムを提供することを目的とする。   The present invention solves the above-mentioned problem, and when an autonomous mobile robot gets into an elevator car, when the person is not detected, the elevator car can be raised and lowered for the first time. An object of the present invention is to provide an elevator getting-on / off system for an autonomous mobile robot that can share an elevator safely and exclusively.

上記課題を達成するために、請求項１の発明は、エレベータ装置と、前記エレベータ装置のエレベータ籠に乗降して複数の階にわたる領域内を自律的に移動する自律移動ロボットと、を含む自律移動ロボット用のエレベータ乗降システムであって、前記自律移動ロボットは、自己の周辺の環境情報を検出するセンシング手段と、移動範囲の地図及び移動範囲内の各場所における前記センシング手段によるセンシング結果を記憶する記憶部と、前記記憶部に記憶されたセンシング結果及び移動範囲の地図に基づいて指示された目的地まで自律的に移動するための駆動部及び制御部と、後述のエレベータ制御部に対して所定の信号を送受信する無線通信手段と、を備え、前記エレベータ装置は、エレベータ籠及び各階のエレベータ乗降用扉を含めたエレベータ全体を制御するエレベータ制御部と、エレベータ籠内及び各階のエレベータ乗降場所に設けられて前記エレベータ制御部への指示入力を行うエレベータ制御端末と、前記エレベータ制御部に接続されて前記自律移動ロボットが有する無線通信手段に対して所定の信号を送受信する無線通信手段と、エレベータ籠内に設けられその籠内の人の有無を検出する人検出手段と、を備え、前記自律移動ロボットが、エレベータ籠に乗込んだ際に、前記人検出手段によってエレベータ籠内に人が検出されなかったときにエレベータ籠の移動が可能となるようにしたものである。   In order to achieve the above object, an invention according to claim 1 is an autonomous movement including an elevator apparatus and an autonomous mobile robot that gets on and off an elevator car of the elevator apparatus and autonomously moves in an area over a plurality of floors. An elevator boarding / alighting system for a robot, wherein the autonomous mobile robot stores sensing means for detecting environmental information around itself, a map of a moving range, and a sensing result by the sensing means at each location within the moving range Predetermined for a storage unit, a drive unit and a control unit for autonomously moving to an instructed destination based on a sensing result and a moving range map stored in the storage unit, and an elevator control unit described later Wireless communication means for transmitting and receiving signals, and the elevator apparatus includes an elevator car and an elevator door on each floor An elevator control unit that controls the entire elevator, an elevator control terminal that is provided in an elevator hall and on each elevator floor, and that inputs instructions to the elevator control unit, and the autonomous mobile robot that is connected to the elevator control unit Wireless communication means for transmitting / receiving a predetermined signal to / from the wireless communication means, and a person detection means provided in an elevator cage for detecting the presence or absence of a person in the cage. When a person is not detected in the elevator car by the person detecting means when getting on the car, the elevator car can be moved.

請求項２の発明は、請求項１に記載の自律移動ロボット用のエレベータ乗降システムにおいて、前記人検出手段は、光ビームをエレベータ寵の床面に平行な面内で走査し、その反射光を計測することによりエレベータ籠内の人検出を行うものである。   According to a second aspect of the present invention, in the elevator boarding / alighting system for an autonomous mobile robot according to the first aspect, the human detection means scans a light beam in a plane parallel to the floor surface of the elevator car, and reflects the reflected light. The person in the elevator car is detected by measuring.

請求項３の発明は、請求項２に記載の自律移動ロボット用のエレベータ乗降システムにおいて、前記人検出手段は、エレベータ籠内の２ヶ所に設けられているものである。   According to a third aspect of the present invention, in the elevator boarding / alighting system for an autonomous mobile robot according to the second aspect, the person detecting means is provided at two locations in the elevator car.

請求項４の発明は、請求項３に記載の自律移動ロボット用のエレベータ乗降システムにおいて、前記２ヶ所に設けられた人検出手段は、互いに異なる高さの面内で光ビームを走査して人検出を行うものである。   According to a fourth aspect of the present invention, in the elevator boarding / alighting system for an autonomous mobile robot according to the third aspect, the human detection means provided at the two locations scan the light beam in planes having different heights, thereby The detection is performed.

請求項５の発明は、請求項３に記載の自律移動ロボット用のエレベータ乗降システムにおいて、前記２ヶ所に設けられた人検出手段は、互いの人検出動作時間を重複させずに人検出を行うものである。   According to a fifth aspect of the present invention, in the elevator boarding / alighting system for an autonomous mobile robot according to the third aspect, the human detection means provided at the two locations perform human detection without overlapping each other's human detection operation time. Is.

請求項６の発明は、請求項２に記載の自律移動ロボット用のエレベータ乗降システムにおいて、前記人検出手段は、計測結果が、エレベータ籠内の側壁までの距離より遠い計測結果となった場合には人が存在すると判断するものである。   According to a sixth aspect of the present invention, in the elevator boarding / alighting system for an autonomous mobile robot according to the second aspect of the invention, the human detection means is configured such that the measurement result is a measurement result farther than the distance to the side wall in the elevator car. Is to determine that a person exists.

請求項７の発明は、請求項２に記載の自律移動ロボット用のエレベータ乗降システムにおいて、前記人検出手段からの光ビームの光反射率を改善する反射面をエレベータ籠内の側壁に設けたものである。   According to a seventh aspect of the invention, there is provided an elevator boarding / alighting system for an autonomous mobile robot according to the second aspect, wherein a reflecting surface for improving the light reflectance of the light beam from the human detection means is provided on a side wall in the elevator car. It is.

請求項８の発明は、請求項１に記載の自律移動ロボット用のエレベータ乗降システムにおいて、前記自律移動ロボットが、エレベータ籠内の隅部に停止するものである。   The invention according to claim 8 is the elevator boarding / alighting system for an autonomous mobile robot according to claim 1, wherein the autonomous mobile robot stops at a corner in the elevator car.

請求項９の発明は、請求項１に記載の自律移動ロボット用のエレベータ乗降システムにおいて、エレベータ籠内に、エレベータ籠内の人に警告を与える音声発生装置及び警告表示器を設けたものである。   The invention according to claim 9 is the elevator boarding / alighting system for the autonomous mobile robot according to claim 1, wherein a sound generator and a warning indicator for giving a warning to a person in the elevator car are provided in the elevator car. .

請求項１の発明によれば、エレベータ籠内に人が検出されなかったときにエレベータ籠の移動が可能となるようにしているので、自律移動ロボットが、例えば、扉幅の広いエレベータ籠に乗込こむ際に、誤って人が一緒に乗り込んだ場合でも、そのことを人検出手段によって検出し、エレベータ籠の移動を行わないようにできる。これにより、自律移動ロボットと人とが、エレベータを安全に排他的に共用できる。   According to the first aspect of the present invention, since the elevator car can be moved when no person is detected in the elevator car, the autonomous mobile robot can ride on, for example, an elevator car with a wide door width. Even if a person gets in by mistake when entering, it can be detected by the person detecting means so that the elevator car does not move. Thereby, an autonomous mobile robot and a person can share an elevator safely and exclusively.

請求項２の発明によれば、エレベータ籠内の人や障害物を簡便に検出できる。   According to the invention of claim 2, a person or an obstacle in the elevator car can be easily detected.

請求項３の発明によれば、１個のセンサ（人検出手段）では死角となる自律移動ロボットの背後などのエリアでも確実に人や障害物を検出できる。   According to the invention of claim 3, a single sensor (person detection means) can reliably detect a person or an obstacle even in an area such as behind an autonomous mobile robot that becomes a blind spot.

請求項４の発明によれば、人検出手段の相互干渉を防止できる。   According to invention of Claim 4, the mutual interference of a human detection means can be prevented.

請求項５の発明によれば、人検出手段の相互干渉を防止できる。   According to the invention of claim 5, mutual interference of the human detection means can be prevented.

請求項６の発明によれば、計測結果が、既知であるエレベータ籠の内部形状に反する場合に、事態がより安全な方向に向かうように計測結果を解釈して、不測の事態を回避できる。例えば、人検出手段の検出原理として物体からの反射光を用いる場合、光反射率の低いどのような衣服や所持物であってもこれを障害物として検出できる。   According to the sixth aspect of the present invention, when the measurement result is contrary to the known internal shape of the elevator car, the measurement result is interpreted so that the situation is in a safer direction, and an unexpected situation can be avoided. For example, when the reflected light from an object is used as the detection principle of the human detection means, any clothes or belongings having a low light reflectance can be detected as an obstacle.

請求項７の発明によれば、エレベータ籠の内側壁の光反射率が悪い場合に、大きな施工変更や追加工事を行うことなく、確実な人検出が可能となる。   According to the invention of claim 7, when the light reflectance of the inner wall of the elevator car is poor, it is possible to reliably detect a person without performing a large construction change or additional construction.

請求項８の発明によれば、人検出手段の死角となる例えば自律移動ロボットの背後に人体の存在可能空間を排除して、結果的に死角エリアを低減でき、人検出手段の個数を１個としても確実な人検出が可能となる。   According to the eighth aspect of the present invention, for example, the space where the human body can exist is eliminated behind the autonomous mobile robot, which becomes the blind spot of the human detection means, and as a result, the blind spot area can be reduced, and the number of the human detection means is one. However, reliable human detection is possible.

請求項９の発明によれば、エレベータ籠内に誤って人が乗込んでしまった場合に、その人に警告を与えて、エレベータ籠から降りるように促すことができる。   According to the ninth aspect of the present invention, if a person gets into the elevator car accidentally, a warning can be given to the person to prompt him to get out of the elevator car.

以下、本発明の一実施形態に係る自律移動ロボット用のエレベータ乗降システムについて、図面を参照して説明する。図１は、自律移動ロボット用のエレベータ乗降システムの概念を示し、図２は、本システムのブロック構成を示す。自律移動ロボット用のエレベータ乗降システム１は、エレベータ装置２と、エレベータ装置１のエレベータ籠２２に乗降して複数の階にわたる領域内を自律的に移動する自律移動ロボット３と、を備えている。   Hereinafter, an elevator boarding / alighting system for an autonomous mobile robot according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the concept of an elevator boarding / alighting system for an autonomous mobile robot, and FIG. 2 shows a block configuration of this system. The elevator boarding / alighting system 1 for an autonomous mobile robot includes an elevator device 2 and an autonomous mobile robot 3 that gets on and off the elevator car 22 of the elevator device 1 and autonomously moves in an area extending over a plurality of floors.

上述の自律移動ロボット３は、自己の周辺の環境情報を検出するセンシング手段３３と、移動範囲の地図及び移動範囲内の各場所におけるセンシング手段３３によるセンシング結果を記憶する記憶部３２と、記憶部に記憶されたセンシング結果及び移動範囲の地図に基づいて、指示された目的地まで自律的に移動するための駆動部３１及び制御部３０と、移動中に周辺の人に対して警告するための音声発生装置３４及び警告表示器３５と、後述のエレベータ制御部２０に対して所定の信号を送受信するための無線通信手段３６と、を備えている。   The autonomous mobile robot 3 includes a sensing unit 33 that detects environmental information around itself, a map of the moving range, a storage unit 32 that stores the sensing results of the sensing unit 33 at each location within the moving range, and a storage unit Drive unit 31 and control unit 30 for autonomously moving to the instructed destination based on the sensing results and the map of the movement range stored in FIG. The sound generator 34 and the warning indicator 35, and wireless communication means 36 for transmitting and receiving a predetermined signal to the elevator control unit 20 described later are provided.

また、エレベータ装置２は、エレベータ籠２２及び各階のエレベータ乗降用扉を含めたエレベータ全体を制御するエレベータ制御部２０と、エレベータ籠２２を昇降する駆動部２１と、エレベータ籠２２内及び各階のエレベータ乗降場所に設けられてエレベータ制御部２０への指示入力を行うエレベータ制御端末（操作盤）２３、２４と、エレベータ制御部２０に接続されて自律移動ロボット３が有する無線通信手段３６に対して所定の信号を送受信する無線通信手段２５、２６と、エレベータ籠２２内に設けられその籠内の人の有無を検出する人検出手段４と、エレベータ籠２２内に設けられエレベータ籠２２内の人に警告を与える音声発生装置５及び警告表示器６と、を備えている。エレベータ籠２２内及び各階のエレベータ乗降場所に設けられた無線通信手段２５、２６は、それぞれインターフェイス部２５ａ，２６ａを介してエレベータ制御部２０に接続され、情報の授受が行われる。   The elevator apparatus 2 also includes an elevator control unit 20 that controls the entire elevator including the elevator cage 22 and the elevator entrance / exit doors on each floor, a drive unit 21 that raises and lowers the elevator cage 22, and an elevator in the elevator cage 22 and on each floor. Predetermined with respect to elevator control terminals (operation panels) 23 and 24 that are provided at a boarding / alighting place to input instructions to the elevator control unit 20 and wireless communication means 36 that is connected to the elevator control unit 20 and that the autonomous mobile robot 3 has. Wireless communication means 25 and 26 for transmitting and receiving signals, person detection means 4 provided in the elevator car 22 for detecting the presence or absence of a person in the car, and a person in the elevator car 22 provided for the person in the elevator car 22 A sound generator 5 and a warning indicator 6 for giving a warning are provided. The wireless communication means 25 and 26 provided in the elevator car 22 and at the elevator boarding places on each floor are connected to the elevator control unit 20 via the interface units 25a and 26a, respectively, and exchange information.

このようなエレベータ装置２を備えたエレベータ乗降システム１は、自律移動ロボット３が、指示された目的地まで移動中にエレベータ籠２２に乗込んだ際に、人検出手段４によってエレベータ籠２２内に誤って乗り込んだ人がいないかどうかを調べ、人を検出した場合には、音声発生装置５及び警告表示器６を用いて、同乗した人に警告を与えて人の同乗を防止する。つまり、エレベータ乗降システム１は、自律移動ロボット３がエレベータ籠２２に乗り込んだときに人が検出されない場合に初めてエレベータ籠２２の昇降ができるように構成されている。このように、エレベータ乗降システム１は、エレベータ籠２２内に誤って人が乗込んだ人に警告を与えて、エレベータ籠２２から降りるように促し、自律移動ロボット３がエレベータ籠２２を一時的に独占使用可能とすることにより、一般の人々が自律移動ロボット３とともにエレベータ装置２を安全に、排他的に共用することを可能としている。以下において、エレベータ乗降システム１の詳細を述べる。   The elevator boarding / exiting system 1 equipped with such an elevator device 2 is provided in the elevator car 22 by the human detection means 4 when the autonomous mobile robot 3 gets into the elevator car 22 while moving to the designated destination. It is checked whether or not there is a person who got in by mistake, and when a person is detected, the voice generation device 5 and the warning indicator 6 are used to give a warning to the person who has boarded and prevent the person from boarding. That is, the elevator boarding / alighting system 1 is configured such that the elevator car 22 can be raised and lowered only when no person is detected when the autonomous mobile robot 3 gets into the elevator car 22. In this way, the elevator boarding / alighting system 1 gives a warning to a person who has entered the elevator rod 22 by mistake, prompts the person to get off the elevator rod 22, and the autonomous mobile robot 3 temporarily moves the elevator rod 22 down. By making the exclusive use possible, ordinary people can share the elevator apparatus 2 together with the autonomous mobile robot 3 safely and exclusively. Below, the detail of the elevator boarding / alighting system 1 is described.

まず、自律移動ロボット３について述べる。上述の自律移動ロボット３が、目的とする地点へ移動する移動経路上に障害物が存在することも多く、自律移動ロボット３は、自らの周辺部に存在する障害物の有無をセンシング手段３３により検出し、このセンシング手段３３の検出結果から進行方向に障害物がないことを確認しつつ移動する。移動ロボット３は、記憶部３２に予め記憶した地図上で指示された目的地まで、モータを中心に構成された駆動部３１を駆動させて自律的に移動する。自律移動ロボット３は、図１に示すように、車輪により移動する。そこで、駆動部３１を構成する車輪を回転するモータにエンコーダ（不図示）を設けて、エンコーダからの出力信号を制御部３０において処理することにより自律移動ロボット３の位置と進行方向を算出する。制御部３０は、この算出結果を用いて、目的とする地点へ自律移動ロボット３が移動するよう駆動部３１を制御する。しかしながら、上記の位置と進行方向の算出結果には、一般的に誤差が含まれている。そこで、より正確な自己位置が必要な場合、自律移動ロボット３は、記憶部３２に記憶した自律的に移動する範囲の地図及び移動範囲内の各場所でのセンシング手段によるセンシング結果を、移動中のセンシング結果と照合することにより、この誤差を解消する。   First, the autonomous mobile robot 3 will be described. There are many obstacles on the moving path along which the above-mentioned autonomous mobile robot 3 moves to a target point, and the autonomous mobile robot 3 uses the sensing means 33 to detect the presence or absence of obstacles in its peripheral part. It detects and it moves, confirming that there is no obstacle in the advancing direction from the detection result of this sensing means 33. The mobile robot 3 autonomously moves by driving the drive unit 31 configured around a motor to a destination indicated on a map stored in advance in the storage unit 32. The autonomous mobile robot 3 moves by wheels as shown in FIG. Therefore, an encoder (not shown) is provided in a motor that rotates the wheels constituting the drive unit 31, and an output signal from the encoder is processed by the control unit 30 to calculate the position and the traveling direction of the autonomous mobile robot 3. The control unit 30 uses the calculation result to control the drive unit 31 so that the autonomous mobile robot 3 moves to a target point. However, the calculation result of the position and the traveling direction generally includes an error. Therefore, when a more accurate self-location is required, the autonomous mobile robot 3 moves the map of the autonomously moving range stored in the storage unit 32 and the sensing result by the sensing means at each location within the moving range. This error is eliminated by collating with the sensing results.

次に、エレベータ装置２について述べる。エレベータ装置２において、エレベータ制御部２０が、エレベータ籠２２や各フロアの扉などを含めたエレベータ全体を制御する。例えば、エレベータ制御部２０はエレベータ籠２２内や各階フロアにある操作盤２３、２４から、人が行う操作によって入力された指令に従って、エレベータ籠２２の昇降や扉の開閉を制御する。エレベータ制御部２０には、上述したように、自律移動ロボット３がエレベータ籠２２に乗降するための指示入力と状態検出が可能なインターフェイス部２５ａ，２６ａと無線通信手段２５、２６が接続されている。無線通信手段２５、２６は、自律移動ロボット３が無線通信できるように、エレベータ籠２２内と各階フロアのエレベータ乗降場所に備えられている。   Next, the elevator apparatus 2 will be described. In the elevator apparatus 2, the elevator control unit 20 controls the entire elevator including the elevator cage 22 and doors of each floor. For example, the elevator control unit 20 controls the raising / lowering of the elevator cage 22 and the opening / closing of the door according to a command input by an operation performed by a person from the operation panels 23 and 24 in the elevator cabin 22 or on each floor. As described above, the elevator control unit 20 is connected to the interface units 25a and 26a and the wireless communication means 25 and 26 capable of inputting instructions and detecting states for the autonomous mobile robot 3 to get on and off the elevator car 22. . The wireless communication means 25 and 26 are provided in the elevator cage 22 and the elevator boarding places on each floor so that the autonomous mobile robot 3 can perform wireless communication.

上述の自律移動ロボット３がエレベータ籠２２に乗降するためエレベータ制御部２０に対して行う指示入力の内容は、自律移動ロボット３が乗込む階の指示、エレベータ籠２２の扉の開閉動作の指示、行先階の指示などである。また、上述の自律移動ロボット３が行う状態検出の内容は、エレベータ籠２２の扉の開閉状態（開限と閉限）、エレベータ籠２２の位置する現在階などである。   The contents of the instruction input to the elevator control unit 20 for the above-mentioned autonomous mobile robot 3 to get on and off the elevator car 22 are instructions for the floor on which the autonomous mobile robot 3 gets in, instructions for opening and closing the door of the elevator car 22, For example, instructions on the destination floor. The contents of the state detection performed by the autonomous mobile robot 3 described above are the door open / closed state (open limit and closed limit) of the elevator car 22, the current floor where the elevator car 22 is located, and the like.

次に、図３乃至図５を参照して、自律移動ロボット３が、エレベータ籠２２に乗込む手順を説明する。図３は、自律移動ロボット３がエレベータ籠２２に乗込む前の状態を示し、図４は、乗込んだ状態を示し、図５は、エレベータ籠の内部を入口側から見た様子を示す。なお、上述の図１、図２を引き続き参照する。自律移動ロボット３は、まず、自己の無線通信手段３６及びエレベータ乗降場所に備えられたエレベータ装置２の無線通信手段２６を介して、エレベータ制御部２０に乗込む階を通知する。エレベータ制御部２０は、エレベータ籠２２内の人検出手段４を用いて、エレベータ籠２２内に人がいなくなったことを確認した後、エレベータを自律移動ロボット３専用運転に切替え、自律移動ロボット３が指定した階にエレベータ籠２２を移動させる。これで、エレベータ籠２２に人がいない状態で自律移動ロボット３をエレベータ籠２２内に乗り込ませる準備が完了する。   Next, a procedure for the autonomous mobile robot 3 to get into the elevator car 22 will be described with reference to FIGS. FIG. 3 shows a state before the autonomous mobile robot 3 gets into the elevator rod 22, FIG. 4 shows a state in which the autonomous mobile robot 3 gets in, and FIG. 5 shows a state where the interior of the elevator rod is viewed from the entrance side. The above-described FIGS. 1 and 2 will be continuously referred to. The autonomous mobile robot 3 first notifies the floor on which the elevator controller 20 is to be boarded via its own wireless communication means 36 and the wireless communication means 26 of the elevator apparatus 2 provided at the elevator boarding / exiting place. The elevator control unit 20 uses the person detection means 4 in the elevator car 22 to confirm that there are no people in the elevator car 22, and then switches the elevator to the autonomous mobile robot 3 operation. The elevator car 22 is moved to the designated floor. Thus, the preparation for getting the autonomous mobile robot 3 into the elevator car 22 in a state where there is no person in the elevator car 22 is completed.

次にエレベータ籠２２が、自律移動ロボット３の待っている階に到着すると、エレベータ制御部２０は、扉すなわちエレベータ籠２２の扉２２ａとフロア側壁に作りつけの扉２２ｂを開いた状態にして自律移動ロボット３の乗込み可能状態とする。この状態が図３に示されている。自律移動ロボット３は、無線通信手段２６、３６で、この状態を検出し、エレベータ籠２２内に乗込む。自律移動ロボット３は、乗込み完了後に、無線通信手段２６，３６を介して、エレベータ制御部２０に指令を送って扉２２ａ，２２ｂを閉じた状態とさせる。この状態が図４に示されている。   Next, when the elevator car 22 arrives at the floor where the autonomous mobile robot 3 is waiting, the elevator controller 20 autonomously opens the door, that is, the door 22a of the elevator car 22 and the built-in door 22b on the floor side wall. It is assumed that the mobile robot 3 can enter. This state is shown in FIG. The autonomous mobile robot 3 detects this state with the wireless communication means 26 and 36 and gets into the elevator car 22. After the boarding is completed, the autonomous mobile robot 3 sends a command to the elevator control unit 20 via the wireless communication means 26 and 36 to close the doors 22a and 22b. This state is shown in FIG.

上述の状態で、エレベータ制御部２０は、人検出手段４を用いてエレベータ籠２２内に人がいないことを確認する。自律移動ロボット３は、無線通信手段２６，３６を介して人がいないとの結果を確認後、同じく無線通信手段２６，３６を介してエレベータ制御部２０に行先階の指示を入力する。エレベータ制御部２０は、この指示を受けてエレベータ籠２２を行先階に移動させる。このようにして、エレベータ籠２２に自律移動ロボット３のみが乗込んだ状態で、エレベータ籠２２を指定された行先階に移動できる。   In the above-described state, the elevator control unit 20 confirms that there is no person in the elevator car 22 using the person detecting means 4. The autonomous mobile robot 3 inputs a destination floor instruction to the elevator controller 20 through the wireless communication units 26 and 36 after confirming the result that there is no person through the wireless communication units 26 and 36. In response to this instruction, the elevator control unit 20 moves the elevator cage 22 to the destination floor. In this way, the elevator car 22 can be moved to the designated destination floor with only the autonomous mobile robot 3 getting on the elevator car 22.

ここで、人検出手段４を説明する。人検出手段４は、図５に示すように、エレベータ籠２２内の隅部の床面から所定高さ、例えば、一般的な大人の膝から腰の間程度の高さに設けられている。このような、エレベータ籠２２内に取付ける人検出手段４として、レーザやＬＥＤなどの発光を用いた光学系の距離センサを用いる。この場合、エレベータ籠２２内の床面に平行な水平面内を光ビームで走査し、その反射光を計測して反射物の位置（距離）を求めて、エレベータ籠２２内の人検出、又は人がいないことの確認を行う。特に、自律移動ロボット３が乗込む以前の段階において、エレベータ籠２２内に人がいないことを確認する場合、通常、エレベータ籠２２内の床面上に物体が設置されていないので、上述のような床面に平行な水平面内を光ビームで走査する方法が好適である。   Here, the person detection means 4 will be described. As shown in FIG. 5, the person detecting means 4 is provided at a predetermined height from the floor surface at the corner in the elevator car 22, for example, at a height between a general adult's knee and the waist. As such a person detecting means 4 attached in the elevator car 22, an optical distance sensor using light emission such as laser or LED is used. In this case, a horizontal plane parallel to the floor surface in the elevator car 22 is scanned with a light beam, the reflected light is measured to determine the position (distance) of the reflector, and a person in the elevator car 22 is detected or Confirm that there is no. In particular, when it is confirmed that there is no person in the elevator cage 22 before the autonomous mobile robot 3 gets in, normally, no object is installed on the floor surface in the elevator cage 22, so that A method of scanning with a light beam in a horizontal plane parallel to the floor surface is preferable.

上述のような、光学系センサによる人検出手段４では、エレベータ籠２２内側面の壁のみが検出されれば、人がいないと判断でき、壁以外のものが検出されれば、エレベータ籠２２内に人がいると判断できる。また、自律移動ロボット３が乗込みを完了し、エレベータ籠２２の扉２２ａを閉じた段階でエレベータ籠２２内に人がいないことを確認する場合、エレベータ籠２２の内壁と自律移動ロボット３のみが検出されれば、人がいないと判断できる。エレベータ籠２２の内壁と自律移動ロボット３とに加えて何かが検出されれば、エレベータ籠２２内に人がいると判断できる。   In the human detection means 4 using the optical system sensor as described above, it can be determined that there is no person if only the wall on the inner surface of the elevator car 22 is detected, and if anything other than the wall is detected, the person inside the elevator car 22 It can be determined that there are people in the area. When the autonomous mobile robot 3 completes the boarding and confirms that there is no person in the elevator cage 22 when the door 22a of the elevator cage 22 is closed, only the inner wall of the elevator cage 22 and the autonomous mobile robot 3 are If it is detected, it can be determined that there is no person. If something is detected in addition to the inner wall of the elevator car 22 and the autonomous mobile robot 3, it can be determined that there is a person in the elevator car 22.

次に、図６に示すように、上述の人検出手段４を、エレベータ籠内の２ヶ所に設けることについて説明する。２つの人検出手段４を、上方から見た際にほぼ矩形となっているエレベータ籠２２内の４隅の内の２隅に、できれば対角位置の２隅に、それぞれ人検出手段４を設置する。これにより、自律移動ロボット３が、エレベータ籠２２内に乗込んだ際に、光学系センサ１個では死角となる自律移動ロボット３の背後などの情報を補完する。   Next, as shown in FIG. 6, it will be described that the above-described person detecting means 4 is provided at two locations in the elevator car. The two person detecting means 4 are installed at two of the four corners of the elevator rod 22 that are substantially rectangular when viewed from above, preferably at two diagonal positions. To do. Thus, when the autonomous mobile robot 3 gets into the elevator car 22, information such as the back of the autonomous mobile robot 3 that becomes a blind spot with one optical system sensor is complemented.

次に、図７に示すように、互いに異なる高さの面内で光ビームを走査して人検出を行う人検出手段について説明する。上述の２ヶ所に設けられた人検出手段４は、取付高さｄ１，ｄ２を互いに異なる高さとする。これにより、人検出手段４の相互の干渉による不具合、すなわち一方の人検出手段４が発した光ビームが、他方の人検出手段４に入射されて受光部を損傷したり、誤検知してしまうという不具合を防止できる。   Next, as shown in FIG. 7, a human detection unit that performs human detection by scanning a light beam in planes having different heights will be described. The human detection means 4 provided at the two locations described above have different mounting heights d1 and d2. As a result, a malfunction due to mutual interference of the human detection means 4, that is, a light beam emitted from one human detection means 4 is incident on the other human detection means 4 and damages the light receiving unit or misdetects it. Can be prevented.

次に、図８に示すように、自律移動ロボット３が、エレベータ籠２２内の隅部に停止することについて説明する。自律移動ロボット３が、上方から見た際にほぼ矩形となっているエレベータ籠２２内の４隅の内の１隅に停止することで、人検出手段の死角となる、例えば自律移動ロボット３の背後に、人体の存在可能空間を排除して、結果的に死角エリアを低減でき、エレベータ籠２２内に取付ける人検出手段４の個数を１個としても確実な人検出が可能となる。   Next, as shown in FIG. 8, the autonomous mobile robot 3 will be described as stopping at a corner in the elevator car 22. When the autonomous mobile robot 3 stops at one of the four corners of the elevator cage 22 that is substantially rectangular when viewed from above, it becomes a blind spot of the human detection means. For example, the autonomous mobile robot 3 Behind, the space where human bodies can exist is eliminated, and as a result, the blind spot area can be reduced, and even if the number of the person detection means 4 mounted in the elevator car 22 is one, reliable person detection is possible.

次に、自律移動ロボット３がエレベータ籠２２に乗り込んだ後の動作を、図９に示す処理フローにより説明する。ここでは、人検出手段４が、上述のように２ヶ所に設けられているとする。また、ここで述べる２ヶ所に設けられた人検出手段４は、互いの人検出動作時間を重複させずに人検出動作を行う。上述したように、自律移動ロボット３がエレベータ籠内に乗り込み（Ｓ１）、自律移動ロボット３からエレベータ籠２２の扉を閉じる要求があり（Ｓ２でＹｅｓ）、扉が閉じられた状態で（Ｓ３）、人検出手段４による検出動作が行われる。   Next, the operation after the autonomous mobile robot 3 gets into the elevator car 22 will be described with reference to the processing flow shown in FIG. Here, it is assumed that the person detection means 4 is provided at two places as described above. The human detection means 4 provided at two locations described here perform the human detection operation without overlapping the human detection operation time. As described above, the autonomous mobile robot 3 gets into the elevator cage (S1), the autonomous mobile robot 3 requests to close the door of the elevator cage 22 (Yes in S2), and the door is closed (S3). Then, the detection operation by the human detection means 4 is performed.

扉が閉じられた後、まず、一方の人検出手段４（センサ）のみが、エレベータ籠２２内の人の検出動作を行い（Ｓ４）、その後、他方のセンサのみが、エレベータ籠２２内の人の検出動作を行う（Ｓ５）。そして、いずれの検出動作によっても、エレベータ籠２２内に人が検出されなかった場合（Ｓ６でＹｅｓ）、自律移動ロボット３が行先階を指定し（Ｓ７）、エレベータ籠２２が指定された行先階に移動する。これにより、２個の人検出手段４の両方が同時にセンシングする時間帯を無くし、光学系センサからなる人検出手段４の相互の干渉を防止することができる。   After the door is closed, first, only one person detecting means 4 (sensor) performs a detecting operation of the person in the elevator cage 22 (S4), and then only the other sensor is a person in the elevator cage 22 Is detected (S5). If no person is detected in the elevator car 22 by any detection operation (Yes in S6), the autonomous mobile robot 3 designates the destination floor (S7), and the destination floor where the elevator car 22 is designated. Move to. Thereby, it is possible to eliminate the time zone in which both of the two human detection means 4 sense at the same time, and to prevent mutual interference of the human detection means 4 composed of optical system sensors.

上述のステップＳ６において、何れかの人検出手段４により人が検出された場合（Ｓ６でＮｏ）、エレベータ制御部２０は、エレベータの扉２２ａ，２２ｂを開けるとともに、音声発生装置５、及び警告表示器６を用いて、人に対してエレベータ使用不可の警告報知を行う（Ｓ９）。この警告報知により人にエレベータ籠２２から降りるように促すことを一定時間継続して行い（Ｓ１０でＮｏ）、一定時間経過後に（Ｓ１０でＹｅｓ）、再度ステップＳ３に戻って上述のステップを繰り返す。   In step S6 described above, when any person is detected by any one of the person detection means 4 (No in S6), the elevator controller 20 opens the doors 22a and 22b of the elevator, and the sound generator 5 and a warning display. A warning notification that the elevator cannot be used is given to the person using the device 6 (S9). This warning notification prompts the person to get out of the elevator car 22 for a certain period of time (No in S10), and after a certain period of time (Yes in S10), returns to Step S3 and repeats the above steps.

次に、人検出手段４による計測結果が、エレベータ籠２２内の側壁までの距離より遠い計測結果となった場合について説明する。このような場合、人がいないのではなく、逆に人又は障害物が存在すると判断する。すなわち、測定結果が、既知であるエレベータ籠２２の内部形状に反する場合に、事態がより安全な方向に向かうように測定結果を解釈する。これにより、不測の事態を回避できる。例えば、人検出手段４の検出原理として物体からの反射光を用いる場合、光反射率が低い衣服や所持物であっても、すなわち反射光が測定されないため無限遠の計測結果が得られる場合であっても、これらの衣服や所持物の存在を検出できる。エレベータ籠２２内側面の壁の状態は変化することなく、光反射率の特性も一定であると想定されるので、このような判断が有効となる。   Next, the case where the measurement result by the person detection means 4 becomes a measurement result farther than the distance to the side wall in the elevator car 22 will be described. In such a case, it is determined that a person or an obstacle exists instead of having no person. That is, when the measurement result is contrary to the known internal shape of the elevator car 22, the measurement result is interpreted so that the situation is in a safer direction. Thereby, an unexpected situation can be avoided. For example, when the reflected light from an object is used as the detection principle of the human detection means 4, even if it is clothes or belongings with low light reflectivity, that is, the reflected light is not measured, so that an infinite measurement result can be obtained. Even so, the presence of these clothes and belongings can be detected. Since it is assumed that the wall state of the inner surface of the elevator car 22 does not change and the characteristics of the light reflectance are constant, such a determination is effective.

次に、図１０に示すように、人検出手段４からの光ビームの光反射率を改善する反射面をエレベータ籠２２内の側壁に設けることについて説明する。人検出手段４の検出原理として物体からの反射光を用いる場合、エレベータ籠２２内の側壁の光反射率が悪い特性であると側壁からの反射光が得られず、側壁の位置検出ができなくなる。エレベータ籠２２の側壁は、エレベータ籠２２の境界であり、位置基準である。この側壁位置を明確に測定するために、人検出手段４から照射された光が反射するように、光照射される高さ位置の側壁に反射率を改善するテープ状のものを取付ける。これにより、エレベータ籠２２の内側壁の光反射率が悪い場合に、大きな施工変更や追加工事を行うことなく、確実な人検出が可能となる。すなわち、エレベータ籠２２内の側壁を確実に検出でき、エレベータ籠２２内に人がいた場合、人の背後に隠れた壁が検出されなくなることから、確実に人の存在を検知することができる。   Next, as shown in FIG. 10, a description will be given of providing a reflection surface on the side wall in the elevator car 22 for improving the light reflectance of the light beam from the human detection means 4. When reflected light from an object is used as the detection principle of the human detection means 4, if the light reflectance of the side wall in the elevator car 22 is poor, the reflected light from the side wall cannot be obtained, and the position of the side wall cannot be detected. . The side wall of the elevator car 22 is a boundary of the elevator car 22 and is a position reference. In order to clearly measure the side wall position, a tape-like object for improving the reflectance is attached to the side wall at the height position irradiated with light so that the light irradiated from the human detection means 4 is reflected. Thereby, when the light reflectance of the inner wall of the elevator car 22 is poor, it is possible to reliably detect people without performing a large construction change or additional construction. That is, the side wall in the elevator cage 22 can be detected with certainty, and if there is a person in the elevator cage 22, the wall hidden behind the person is not detected, so the presence of the person can be reliably detected.

次に、エレベータ籠内に誤って人が乗込んでしまった場合の処置について説明する。上述の図３乃至図８などに示すように、エレベータ籠２２内に、エレベータ籠２２内の人に対して警告を与える音声発生装置５及び警告表示器６を装備する。エレベータ籠２２内に誤って人が乗込んでしまった場合に、これらを用いて当該の人に警告を与えることが可能であり、エレベータ籠２２から降りるように促すことができる。   Next, a description will be given of a procedure when a person gets into the elevator car accidentally. As shown in FIG. 3 to FIG. 8 and the like described above, the sound generator 5 and the warning indicator 6 that give a warning to a person in the elevator car 22 are installed in the elevator car 22. If a person gets into the elevator rod 22 by mistake, it can be used to give a warning to the person and can be prompted to get off the elevator rod 22.

なお、本発明は、上記構成に限られることなく種々の変形が可能である。例えば、上記実施の形態の説明では、１台のエレベータについて説明したが、エレベータが複数設置されている場合も基本的に同様である。自律移動ロボット３がエレベータを利用する際に、いずれか使用されていないエレベータ、又はエレベータ乗籠に人が乗っていないエレベータを自律移動ロボット３専用モードに切り換える。また、エレベータ籠呼び出し信号を受信した時点でいずれのエレベータも使用されている場合は、いずれかのエレベータが不使用又はエレベータ籠が無人状態になるのを待ってから、そのエレベータ籠を自律移動ロボット３専用モードに切り換える。このような場合、自律移動ロボット３がエレベータ籠呼び出し信号を出力して特定のエレベータが自律移動ロボット３専用モードに切り換えられたとしても、一般の利用者は他のエレベータを利用することが可能であるので、人と自律移動ロボット３が同時に複数のエレベータを利用してスムーズに他の階に移動できる。また、人検出手段４として、上述した光学系の距離センサに加えて、人体からの赤外線を検知して人を検知する赤外線感知式の人センサを併用してもよい。   The present invention is not limited to the above-described configuration, and various modifications can be made. For example, in the description of the above embodiment, one elevator has been described. However, the same applies basically when a plurality of elevators are installed. When the autonomous mobile robot 3 uses the elevator, any elevator that is not used or an elevator on which no person is on the elevator is switched to the autonomous mobile robot 3 dedicated mode. Also, if any elevator is in use at the time of receiving the elevator car call signal, wait for any elevator to be unused or the elevator car to become unattended, and then move the elevator car to the autonomous mobile robot. 3 Switch to dedicated mode. In such a case, even if the autonomous mobile robot 3 outputs an elevator call signal and the specific elevator is switched to the mode for exclusive use of the autonomous mobile robot 3, a general user can use another elevator. Therefore, the person and the autonomous mobile robot 3 can move to another floor smoothly using a plurality of elevators at the same time. In addition to the optical distance sensor described above, an infrared-sensitive human sensor that detects an infrared ray from a human body and detects a person may be used in combination as the human detection unit 4.

本発明の一実施形態に係る自律移動ロボット用のエレベータ乗降システムの構成を示す模式図。The schematic diagram which shows the structure of the elevator boarding / alighting system for autonomous mobile robots concerning one Embodiment of this invention. 同上システムのブロック構成図。The block block diagram of a system same as the above. 同上エレベータ籠の平面断面図と乗込み前の自律移動ロボットの上面図。The plane sectional view of an elevator car same as the above, and the top view of the autonomous mobile robot before boarding. 同上エレベータ籠の平面断面図と乗込み状態の自律移動ロボットの上面図。The plane sectional view of an elevator car same as the above, and the top view of the autonomous mobile robot of boarding state. 同上システムにおけるエレベータ籠の内部を入口側から見た斜視図。The perspective view which looked at the inside of the elevator cage | basket in a system same as the above from the entrance side. 同上システムにおけるエレベータ籠の他の例を示す平面断面図と乗込み状態の自律移動ロボットの上面図。The plane sectional view which shows the other example of the elevator car in the system same as the above, and the top view of the autonomous mobile robot in the boarding state. 同上システムにおけるエレベータ籠のさらに他の例を示すエレベータ籠の内部を入口側から見た斜視図。The perspective view which looked at the inside of the elevator car which shows the other example of the elevator car in a system same as the above from the entrance side. 同上システムにおけるエレベータ籠内の自律移動ロボットの位置関係を説明する断面及び上面図。The cross section and upper side figure explaining the positional relationship of the autonomous mobile robot in the elevator cage in a system same as the above. 同上システムにおけるエレベータ籠に自律移動ロボット乗込む際の処理フロー図。The processing flowchart at the time of boarding an autonomous mobile robot in the elevator car in a system same as the above. 同上システムにおけるエレベータ籠のさらに他の例を示すエレベータ籠の内部を入口側から見た斜視図。The perspective view which looked at the inside of the elevator car which shows the other example of the elevator car in a system same as the above from the entrance side.

符号の説明Explanation of symbols

１ エレベータ乗降システム
２ エレベータ装置
３ 自律移動ロボット
４ 人検出手段
５ 音声発生装置
６ 警告表示器
２０ エレベータ制御部
２１ 駆動部（エレベータの）
２２ エレベータ籠
２３，２４ 操作盤（エレベータ制御端末）
２５，２６ 無線通信手段（エレベータの）
２９ 反射面
３０ 制御部（自律移動ロボットの）
３１ 駆動部（自律移動ロボットの）
３２ 記憶部
３３ センシング手段
３６ 無線通信手段（自律移動ロボットの）
DESCRIPTION OF SYMBOLS 1 Elevator boarding / alighting system 2 Elevator apparatus 3 Autonomous mobile robot 4 Person detection means 5 Sound generator 6 Warning indicator 20 Elevator control part 21 Drive part (elevator)
22 Elevator rod 23, 24 Operation panel (elevator control terminal)
25, 26 Wireless communication means (for elevators)
29 Reflecting surface 30 Control unit (of autonomous mobile robot)
31 Drive (autonomous mobile robot)
32 storage unit 33 sensing means 36 wireless communication means (for autonomous mobile robot)

Claims (9)

エレベータ装置と、前記エレベータ装置のエレベータ籠に乗降して複数の階にわたる領域内を自律的に移動する自律移動ロボットと、を含む自律移動ロボット用のエレベータ乗降システムであって、
前記自律移動ロボットは、自己の周辺の環境情報を検出するセンシング手段と、移動範囲の地図及び移動範囲内の各場所における前記センシング手段によるセンシング結果を記憶する記憶部と、前記記憶部に記憶されたセンシング結果及び移動範囲の地図に基づいて指示された目的地まで自律的に移動するための駆動部及び制御部と、後述のエレベータ制御部に対して所定の信号を送受信する無線通信手段と、を備え、
前記エレベータ装置は、エレベータ籠及び各階のエレベータ乗降用扉を含めたエレベータ全体を制御するエレベータ制御部と、エレベータ籠内及び各階のエレベータ乗降場所に設けられて前記エレベータ制御部への指示入力を行うエレベータ制御端末と、前記エレベータ制御部に接続されて前記自律移動ロボットが有する無線通信手段に対して所定の信号を送受信する無線通信手段と、エレベータ籠内に設けられその籠内の人の有無を検出する人検出手段と、を備え、
前記自律移動ロボットが、エレベータ籠に乗込んだ際に、前記人検出手段によってエレベータ籠内に人が検出されなかったときにエレベータ籠の移動が可能となるようにしたことを特徴とする自律移動ロボット用のエレベータ乗降システム。 An elevator boarding / exiting system for an autonomous mobile robot, comprising: an elevator apparatus; and an autonomous mobile robot that autonomously moves within an area spanning a plurality of floors by getting on and off the elevator car of the elevator apparatus,
The autonomous mobile robot is stored in the storage unit, a sensing unit that detects environmental information around the autonomous mobile robot, a map of a movement range, a storage unit that stores a sensing result by the sensing unit at each location in the movement range, and A driving unit and a control unit for autonomously moving to an instructed destination based on a sensing result and a map of a moving range, and a wireless communication means for transmitting and receiving a predetermined signal to an elevator control unit described later, With
The elevator apparatus is provided in an elevator control unit that controls the entire elevator including the elevator car and the elevator doors on each floor, and is provided in the elevator car and on the elevator boarding place on each floor to input instructions to the elevator control unit. An elevator control terminal, wireless communication means connected to the elevator control unit and transmitting / receiving a predetermined signal to / from wireless communication means of the autonomous mobile robot, presence / absence of a person in the elevator A person detecting means for detecting,
Autonomous movement characterized in that when the autonomous mobile robot gets into the elevator car, the person detecting means can move the elevator car if no person is detected in the elevator car. Elevator boarding / exiting system for robots. 前記人検出手段は、光ビームをエレベータ寵の床面に平行な面内で走査し、その反射光を計測することによりエレベータ籠内の人検出を行うことを特徴とする請求項１に記載の自律移動ロボット用のエレベータ乗降システム。   The said person detection means scans a light beam in a plane parallel to the floor surface of the elevator car and measures the reflected light to detect a person in the elevator car. Elevator boarding / exiting system for autonomous mobile robots. 前記人検出手段は、エレベータ籠内の２ヶ所に設けられていることを特徴とする請求項２に記載の自律移動ロボット用のエレベータ乗降システム。   The elevator boarding / alighting system for an autonomous mobile robot according to claim 2, wherein the human detection means is provided at two locations in the elevator car. 前記２ヶ所に設けられた人検出手段は、互いに異なる高さの面内で光ビームを走査して人検出を行うことを特徴とする請求項３に記載の自律移動ロボット用のエレベータ乗降システム。   The elevator boarding / alighting system for an autonomous mobile robot according to claim 3, wherein the human detection means provided at the two locations perform human detection by scanning light beams in planes having different heights. 前記２ヶ所に設けられた人検出手段は、互いの人検出動作時間を重複させずに人検出を行うことを特徴とする請求項３に記載の自律移動ロボット用のエレベータ乗降システム。   The elevator boarding / alighting system for an autonomous mobile robot according to claim 3, wherein the human detection means provided at the two locations perform human detection without overlapping each other's human detection operation time. 前記人検出手段は、計測結果が、エレベータ籠内の側壁までの距離より遠い計測結果となった場合には人が存在すると判断することを特徴とする請求項２に記載の自律移動ロボット用のエレベータ乗降システム。   The autonomous mobile robot according to claim 2, wherein the human detection unit determines that a person is present when the measurement result is a measurement result farther than a distance to the side wall in the elevator car. Elevator boarding / exiting system. 前記人検出手段からの光ビームの光反射率を改善する反射面をエレベータ籠内の側壁に設けたことを特徴とする請求項２に記載の自律移動ロボット用のエレベータ乗降システム。   The elevator boarding / alighting system for an autonomous mobile robot according to claim 2, wherein a reflection surface for improving the light reflectance of the light beam from the human detection means is provided on a side wall in the elevator car. 前記自律移動ロボットが、エレベータ籠内の隅部に停止することを特徴とする請求項１に記載の自律移動ロボット用のエレベータ乗降システム。   The elevator system for an autonomous mobile robot according to claim 1, wherein the autonomous mobile robot stops at a corner in an elevator cage. エレベータ籠内に、エレベータ籠内の人に警告を与える音声発生装置及び警告表示器を設けたことを特徴とする請求項１に記載の自律移動ロボット用のエレベータ乗降システム。
The elevator boarding / alighting system for an autonomous mobile robot according to claim 1, wherein a sound generation device and a warning indicator for giving a warning to a person in the elevator car are provided in the elevator car.
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CN110482348A (en) * 2019-08-15 2019-11-22 广东嘉腾机器人自动化有限公司 A kind of elevator automatically controls AGV logistics system and method
CN110482348B (en) * 2019-08-15 2021-11-26 广东嘉腾机器人自动化有限公司 Automatic AGV logistics control system and method for elevator
WO2021091111A1 (en) * 2019-11-07 2021-05-14 네이버랩스 주식회사 Elevator system for transporting robot, elevator system control method, and elevator control system
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KR102338608B1 (en) 2019-11-07 2021-12-10 네이버랩스 주식회사 Building including system for robot-dedicated elevator in which robot is able to be charged and stand-by
KR102338607B1 (en) * 2019-11-07 2021-12-10 네이버랩스 주식회사 Elevator system for which robot boards, method for controlling elevator system, and elevator control system
WO2021160623A1 (en) 2020-02-10 2021-08-19 Metralabs Gmbh Neue Technologien Und Systeme Method and a system for conveying a robot in an elevator
EP4524078A2 (en) 2020-02-10 2025-03-19 MetraLabs GmbH Neue Technologien und Systeme Method and a system for positioning a robot near an elevator
DE102021103038A1 (en) 2020-02-10 2021-08-12 Metralabs Gmbh Neue Technologien Und Systeme Method and system for moving a robot in an elevator
EP3889718A1 (en) * 2020-03-30 2021-10-06 Toyota Jidosha Kabushiki Kaisha Control system , control method, and program
US11639002B2 (en) 2020-03-30 2023-05-02 Toyota Jidosha Kabushiki Kaisha Control system, control method, and program
WO2022127527A1 (en) * 2020-12-14 2022-06-23 深圳市普渡科技有限公司 Cross-floor path planning method and apparatus, and computer device and storage medium
CN114644263B (en) * 2020-12-21 2024-05-10 丰田自动车株式会社 Autonomous movement system, autonomous movement method, and non-transitory computer-readable medium
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