JP7512461B1 - Elevator system and method for guiding autonomous mobile robots - Google Patents

Abstract

[Problem] To enable an autonomous mobile robot to board and disembark even if communication between the autonomous mobile robot and a robot cloud server is interrupted. [Solution] An elevator system in which a robot cloud server that is wirelessly connected to the autonomous mobile robot to control the movement of the autonomous mobile robot and an elevator cloud server that controls the elevator car are interconnected, and a light irradiation device is provided inside the car. When communication between the autonomous mobile robot waiting to board at a landing and the robot cloud server is interrupted, the light irradiation device irradiates a light guide onto the floor surface inside the car to guide the autonomous movement of the autonomous mobile robot into the car. [Selected Figure] Figure 1

Description

Embodiments of the present invention relate to elevator systems and methods for guiding autonomous mobile robots to get on and off.

The autonomous mobile robot (hereafter simply referred to as "robot") is wirelessly connected to the robot cloud server, and travels around the building and uses elevators according to wireless instructions from the robot cloud server.

Conventionally, when an autonomous mobile robot uses an elevator, there is technology that detects when there is no user present and allows the autonomous mobile robot to enter the elevator car. There is also technology that allows the robot to avoid the user when they coexist in the elevator car.

JP 2003-081544 A JP 2011-088721 A

However, when an autonomous mobile robot uses an elevator, communication with the robot cloud server may be interrupted when the elevator arrives at the destination floor (call floor) and the autonomous mobile robot gets in. In addition, after the autonomous mobile robot gets in the car and the door closes, the enclosed space of the car may block radio waves, causing communication to be interrupted. Although the autonomous mobile robot creates a map and confirms its own position using SLAM (Simultaneous Localization and Mapping) technology, this means that the autonomous mobile robot cannot smoothly exit the car after the elevator reaches the destination floor and the door opens.

As such, if communication between the autonomous mobile robot and the robot cloud server is interrupted, there is a problem in that the autonomous mobile robot cannot move using the elevator.

In view of the above circumstances, an embodiment of the present invention aims to provide an elevator system and a method for guiding an autonomous mobile robot to board and disembark, which allows the autonomous mobile robot to board and disembark even if communication between the autonomous mobile robot and the robot cloud server is interrupted.

An embodiment for achieving the above object is an elevator system in which a robot cloud server that is wirelessly connected to an autonomous mobile robot and controls the movement of the autonomous mobile robot and an elevator cloud server that controls an elevator car are interconnected, and a light irradiation device is provided inside the car.

When communication between the autonomous mobile robot waiting to board at a boarding platform and the robot cloud server is interrupted, the light irradiation device guides the autonomous mobile robot into the car by irradiating the floor surface inside the car with a light guide.

In another embodiment, when communication between the autonomous mobile robot waiting to disembark in the car and the robot cloud server is interrupted, the light irradiation device guides the autonomous mobile robot to move autonomously to the disembarkation floor by irradiating a light guide onto the floor surface of the landing at the disembarkation floor.

1 is a configuration diagram showing the appearance of an elevator system according to an embodiment. FIG. 4 is an explanatory diagram showing the process when an autonomous mobile robot gets on in the elevator system of the embodiment. FIG. 4 is an explanatory diagram showing the process when the autonomous mobile robot gets off the elevator system of the embodiment. FIG. 1 is a block diagram showing a system configuration of an elevator system according to an embodiment. 5 is a flowchart showing a processing procedure when an autonomous mobile robot gets on in the elevator system of the embodiment. 5 is a flowchart showing a processing procedure when an autonomous mobile robot gets on in the elevator system of the embodiment. 5 is a flowchart showing a processing procedure when an autonomous mobile robot gets off in the elevator system of the embodiment. FIG. 4 is an explanatory diagram showing the process when two autonomous mobile robots get on in the elevator system of the embodiment. FIG. 4 is an explanatory diagram showing the process when two autonomous mobile robots get off in the elevator system of the embodiment.

<Configuration of the embodiment>
FIG. 1 shows the appearance of an elevator system according to an embodiment.

As shown in FIG. 1, a door sensor 3 is installed near the door of a car 2 that constitutes an elevator system 1. The door sensor 3 detects the opening of the car door and, when the door is opened, detects the boarding and disembarking of users and the autonomous mobile robot 10. For example, a multi-axis sensor is suitable as the door sensor 3.

A light ray projection device 4 is also installed near the ceiling of the entrance door of the car 2. As described later, the light ray projection device 4 projects a light ray guide 6 into the car 2 and onto the landing 5, functioning as a guide for the autonomous mobile robot 10 when getting on and off. The light ray projection device 4 is composed of a projector or the like, and in response to instructions from the elevator cloud server 20 described later, projects a light ray or a light point such as infrared or visible light as the light ray guide 6 toward the floor surface when the car 2 door opens.

A waiting area 7 for the autonomous mobile robot 10 is set on the floor of the hall 5, and a waiting area 8 for the autonomous mobile robot 10 is also provided on the floor of the car 2. A hall call button 9 that is operated by users is also provided on the wall of the hall 5.

Figures 2 and 3 show the process for boarding and disembarking the autonomous mobile robot 10 (method of guiding boarding and disembarking the autonomous mobile robot).

The autonomous mobile robot 10 is controlled to get on and off the car 2 by wireless operation from the robot cloud server 30 (see Figure 4). If communication with the robot cloud server 30 is interrupted, the autonomous mobile robot 10 will be unable to get on and off the car 2.

In the elevator system 1 of the embodiment, as shown in FIG. 2, when the autonomous mobile robot 10 at the hall 5 gets on in the car 2, the light ray irradiation device 4 irradiates the floor with a light guide 6 to guide the autonomous mobile robot 10 to a predetermined waiting area 8. The processing procedure when getting on will be described later based on the flowchart in FIG. 5. Also, as shown in FIG. 3, when the autonomous mobile robot 10 in the car 2 gets off at the hall 5, the light ray irradiation device 4 irradiates the floor with a light guide 6 to guide the autonomous mobile robot 10 to a predetermined waiting area 7 at the hall 5. The processing procedure when getting off will be described later based on the flowchart in FIG. 6.

Figure 4 is a block diagram showing the system configuration of elevator system 1.

As shown in the figure, the car 2 is controlled by an elevator control device 40 and an elevator cloud server 20. Furthermore, the autonomous mobile robot 10 is controlled by a robot cloud server 30. The elevator control device 40 and the elevator cloud server 20, the elevator cloud server 20 and the robot cloud server 30, and the robot cloud server 30 and the autonomous mobile robot 10 are each wirelessly interconnected. Note that the elevator cloud server 20 and the robot cloud server 30 may also be interconnected by wire.

The autonomous mobile robot 10 includes a communication unit 11, a robot command input unit 12, a communication interruption determination unit 13, and a light reading sensor 14.

The communication unit 11 transmits and receives information and commands to and from the robot cloud server 30 via wireless communication.

The robot command input unit 12 inputs robot commands from the robot cloud server 30 to control the robot's own movement.

The communication interruption determination unit 13 determines whether communication with the robot cloud server 30 has been interrupted.

The light reading sensor 14 is used to recognize the door opening by reading the light irradiated from the door sensor 3 when the car 2 door is open. It is also used to recognize the travel path by reading the light guide 6 irradiated from the light irradiating device 4. Various types of sensors can be used, such as ultrasonic sensors, millimeter wave sensors, LiDAR, and stereo cameras.

The elevator cloud server 20 includes a communication unit 21, a robot call registration unit 22, a call registration unit 23, and an irradiation command output unit 24.

The communication unit 21 inputs robot calls from the robot cloud server 30 and requests for light irradiation to the light irradiation device 4. It also executes communication with the elevator control device 40.

The robot call registration unit 22 registers the robot call output from the robot cloud server 30.

The call registration unit 23 registers a hall call when a hall call button 9 is operated by a user.

When a light irradiation request is received from the robot cloud server 30, the irradiation command output unit 24 outputs a light irradiation command to the light irradiation device 4 via the elevator control device 40.

The robot cloud server 30 includes a communication unit 31, a robot command output unit 32, a communication interruption determination unit 33, and a light irradiation request unit 34.

The communication unit 31 outputs robot commands to the autonomous mobile robot 10 and inputs data from the autonomous mobile robot 10. It also outputs robot calls and requests for light irradiation to the light irradiation device 4 to the elevator cloud server 20.

The robot command output unit 32 outputs robot commands to the autonomous mobile robot 10.

The communication interruption determination unit 33 determines whether communication with the autonomous mobile robot 10 has been interrupted. If it determines that communication has been interrupted, it instructs the light irradiation request unit 34 to output a light irradiation request.

The light beam irradiation request unit 34 requests the elevator cloud server 20 to irradiate the light beam guide 6 when the communication interruption determination unit 33 determines that communication with the autonomous mobile robot 10 has been interrupted.

The elevator control device 40 controls the running of the car 2 and includes a communication unit 41, a car allocation unit 42, and a call registration unit 23. The communication unit 41 executes communication with the elevator cloud server 20. The car allocation unit 42 allocates the optimal car 2 based on the call registration from the call registration unit 43. The call registration unit 43 registers a hall call when a hall call button 9 is operated by a user.

The car 2 also includes the door sensor 3 and the light beam irradiation device 4 described above. The car 2 also includes an irradiation command input unit 51 that inputs an irradiation command for the light beam irradiation device 4. The irradiation command input unit 51 controls the light beam irradiation device 4 by inputting a light beam irradiation request command output from the robot cloud server 30 when communication between the autonomous mobile robot 10 and the robot cloud server 30 is interrupted.
<Processing procedure of the embodiment>
When riding the robot
Figures 5A and 5B show the processing procedure when the autonomous mobile robot 10 boards (a method for guiding the autonomous mobile robot to board). Steps S1 to S7 shown in Figure 5A show the processing of the robot cloud server 30. Steps S11 to S17 show the processing on the elevator side. Here, the processing on the elevator side shows the processing of the elevator cloud server 20, the elevator control device 40, and inside the car 2 in chronological order. Steps S21 to S30 shown in Figure 5B are the processing procedure of the autonomous mobile robot 10.

When a robot call is output from the robot cloud server 30 (step S1), the robot call registration unit 22 of the elevator cloud server 20 registers the robot call (step S11). The robot call registration is transmitted from the elevator cloud server 20 to the corresponding elevator control device 40. On the other hand, when a robot call is output from the robot cloud server 30, the autonomous mobile robot 10 moves to the waiting area 7 (step S21). In response to the robot call, the elevator control device 40 moves the car 2 to the called floor (step S12). When the car 2 arrives at the called floor and the car door opens, a door open signal is output (step S13). The door open signal is output from the elevator control device 40 to the robot cloud server 30 via the elevator cloud server 20.

The robot cloud server 30 monitors the reception of a door-open signal output from the elevator cloud server 20 (step S2). When a door-open signal is received, the robot cloud server 30 outputs the door-open signal to the autonomous mobile robot 10.

The autonomous mobile robot 10 monitors whether or not it has received a door open signal from the robot cloud server 30 (step S22). If it has received a door open signal, it outputs a confirmation signal to the robot cloud server 30 (step S23). If there is a response from the autonomous mobile robot 10 (step S3), the robot cloud server 30 instructs the autonomous mobile robot 10 to board (step S4). If the autonomous mobile robot 10 receives a boarding instruction signal (step S24 YES), it outputs a confirmation signal to the robot cloud server 30 (step S25) and moves into the car 2 (step S26). After the movement is completed, it outputs a confirmation signal to the robot cloud server 30 (step S27). When the robot cloud server 30 confirms that the robot has boarded, it ends the process (step S7 YES).

In step S22, if the autonomous mobile robot 10 does not receive a door open signal even after a predetermined time has elapsed (step S28 YES), or if the autonomous mobile robot 10 does not receive a boarding instruction signal even after a predetermined time has elapsed after receiving a door open signal and outputting a confirmation signal (steps S23, S24 NO, S29 YES), the autonomous mobile robot 10 determines that communication with the robot cloud server 30 has been interrupted.

On the other hand, if the robot cloud server 30 receives a door open signal from the elevator cloud server 20 but there is no response from the autonomous mobile robot 10 (step S3 NO), it determines that communication with the autonomous mobile robot 10 has been interrupted (step S5). Then, the light irradiation request unit 34 requests the elevator cloud server 20 to operate the light irradiation device 4 (step S6).

When there is a request to operate the light irradiation device 4 (step S14), the elevator cloud server 20 outputs a light irradiation command from the irradiation command output unit 24 to the elevator control device 40, commanding the light irradiation device 4 to irradiate the light guide 6. When the irradiation command input unit 51 of the car 2 inputs the light irradiation command, it operates the light irradiation device 4. As a result, the light guide 6 is irradiated inside the car 2 (step S15).

The autonomous mobile robot 10 activates the light reading sensor 14 and autonomously moves into the car 2 along the light guide 6 projected onto the floor surface (steps S29 YES, S30).

When the elevator control device 40 confirms that the robot has boarded, it moves the car 2 to the destination floor (steps S16 and S17). When the robot cloud server 30 confirms that the robot has boarded, it ends the process (step S7).

When the robot dismounts
Fig. 6 shows the processing procedure when the autonomous mobile robot 10 dismounts (a method for guiding the autonomous mobile robot to dismount). Steps S41 to S43 shown in Fig. 6 are the processing procedures of the robot cloud server 30, steps S51 to S53 are the processing procedures of the elevator side (the processing procedures of the elevator cloud server 20, the elevator control device 40, and the car 2), and steps S61 to S65 are the processing procedures of the autonomous mobile robot 10.

When the autonomous mobile robot 10 arrives at the destination floor while still in the car 2 (steps S41 YES, S51 YES), the robot cloud server 30 instructs the autonomous mobile robot 10 to disembark (step S42).

When the autonomous mobile robot 10 receives a dismounting instruction from the robot cloud server 30 (step S61 YES), it dismounts. When dismounting is complete, it outputs a dismounting completion signal (step S65).

When there is no disembarking instruction from the robot cloud server 30 and a predetermined time has elapsed (steps S61 NO, S62 YES), the autonomous mobile robot 10 starts autonomous travel. Then, after activating the light beam reading sensor 14 to detect the light beam from the door sensor 3 and confirming that the car door is open, the autonomous mobile robot 10 moves along the light beam guide 6 to the landing 5 (step S63). When disembarking is complete, a disembarking completion signal is output and processing ends (steps S64 YES, S65).

When the elevator control device 40 and the elevator cloud server 20 confirm that the autonomous mobile robot 10 has disembarked (step S52), they output a disembarking completion signal and end the process (step S53).

Thus, according to this embodiment, when communication between the robot cloud server 30 and the autonomous mobile robot 10 is interrupted, the autonomous mobile robot 10 can get on and off the car 2 by following the light guide 6 from the light irradiation device 4 installed in the car 2. Therefore, when communication is interrupted, the autonomous mobile robot 10 can quickly move inside and outside the car without waiting for communication to be restored, and it is possible to avoid a situation in which the autonomous mobile robot 10 becomes stuck at the platform 5 or in the car 2 and cannot move. In addition, it is possible to prevent interruptions to operations due to map misalignment or communication interruption, and to suppress time loss and degradation of service.
<Modification>
7 and 8 show the boarding and disembarking of two autonomous mobile robots. Note that the basic system configuration is the same as that in FIG. 4, so it is not shown in the figures.

As shown in FIG. 7, a first autonomous mobile robot 10A and a second autonomous mobile robot 10B are waiting to board at the platform 5. If communication between the autonomous mobile robot 10 and the robot cloud server 30 is interrupted in this state, the movement paths of the two autonomous mobile robots 10A and 10B are indicated by light guides 6A and 6B, as in FIG. 2, and they are controlled to move to waiting areas 8A and 8B in the car 2, respectively.

As shown in Fig. 8, a first autonomous mobile robot 10A and a second autonomous mobile robot 10B are waiting for passengers to disembark inside car 2. In this case, as in Fig. 3, the movement paths of the two autonomous mobile robots 10A and 10B are indicated by light guides 6A and 6B, and they are controlled to move to waiting areas 7A and 7B at hall 5, respectively.

In this way, even if a communication interruption occurs when multiple autonomous mobile robots 10A, 10B are getting on and off, each autonomous mobile robot 10A, 10B can move to the waiting area 7A, 7B or 8A, 8B along the light guides 6A, 6B.
<Other Modifications>
In the above-described embodiment, the autonomous mobile robot 10 recognizes that the car door is open by reading the light beam from the door sensor 3 with the light beam reading sensor 14, but it may also be determined that the car door is open by detecting that the lights in the car 2 are turned off and that there is no sound inside the car 2. The autonomous mobile robot 10 may also recognize arrival at the destination floor and door opening by listening to the arrival announcement and door opening announcement inside the car 2. Furthermore, if a camera is mounted as the light beam reading sensor 14 of the autonomous mobile robot 10, it may also recognize arrival at the destination floor and door opening by capturing an image of the display screen of the display device inside the car.

In addition, instead of the light beam emitted by the light projection device 4 composed of a projector or the like, and the light guide 6 consisting of light points, the movement path of the autonomous mobile robot 10 may be indicated by light emitted from a light-emitting body installed on the floor surface.

Although several embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents as set forth in the claims.

1...Elevator system, 2...Cage, 3...Door sensor, 4...Light beam irradiation device, 5...Land, 6, 6A, 6B...Light beam guide, 7, 7A, 7B, 8, 8A, 8B...Waiting area, 9...Land call button, 10...Autonomous mobile robot, 10A...First autonomous mobile robot, 10B...Second autonomous mobile robot, 11...Communication unit, 12...Robot command input unit, 13...Communication interruption determination unit, 14...Light beam reading sensor, 20...Elevator cloud server, 21...Communication unit, 22...Robot call registration unit, 23...Call registration unit, 24...Illumination command output unit, 30...Robot cloud server, 31...Communication unit, 32...Robot command output unit, 33...Communication interruption determination unit, 34...Light beam irradiation request unit, 40...Elevator control device, 41...Communication unit, 42...Cage allocation unit, 43...Call registration unit, 51...Illumination command input unit

Claims (8)

An elevator system in which a robot cloud server that is wirelessly connected to an autonomous mobile robot and controls the movement of the autonomous mobile robot and an elevator cloud server that controls an elevator car are mutually connected,
A light irradiation device is provided in the cage,
The light irradiation device is an elevator system in which, when communication between the autonomous mobile robot waiting to board at a landing and the robot cloud server is interrupted, a light guide is emitted onto the floor surface inside the car to guide the autonomous mobile robot into the car. An elevator system in which a robot cloud server that is wirelessly connected to an autonomous mobile robot and controls the movement of the autonomous mobile robot and an elevator cloud server that controls an elevator car are mutually connected,
A light irradiation device is provided in the cage,
The light irradiation device is an elevator system in which, when communication between the autonomous mobile robot waiting to disembark in the car and the robot cloud server is interrupted, a light guide is emitted onto the floor surface of the landing at the disembarking floor to guide the autonomous mobile robot to the landing. The elevator system according to claim 1 or 2, wherein the autonomous mobile robot is equipped with a light reading sensor, reads the light guide emitted from the light irradiation device, and autonomously moves along the light guide to a predetermined position. The elevator system according to claim 1 or 2, wherein the autonomous mobile robot is equipped with a light reading sensor and recognizes the opening of the car door by reading the light of a door sensor installed on the car door. The robot cloud server includes:
a communication interruption determination unit that determines whether communication with the autonomous mobile robot has been interrupted;
The elevator system of claim 1 or 2, further comprising a light irradiation request unit that requests the elevator cloud server to irradiate a light guide using the light irradiation device when the communication interruption determination unit determines that communication with the autonomous mobile robot has been interrupted. The elevator system according to claim 1 or 2, wherein the elevator cloud server includes an irradiation command output unit that outputs an irradiation command to the light irradiation device when the elevator cloud server requests irradiation of the light guide. A method for guiding an autonomous mobile robot to get on and off in an elevator system in which a robot cloud server that is wirelessly connected to the autonomous mobile robot to control movement of the autonomous mobile robot and an elevator cloud server that controls an elevator car are interconnected, comprising:
When communication between the autonomous mobile robot waiting at a boarding area and the robot cloud server is interrupted, a light guide is projected onto the floor surface of the car from a light projection device installed inside the car to guide the autonomous mobile robot into the car. A method for guiding an autonomous mobile robot to get on and off in an elevator system in which a robot cloud server that is wirelessly connected to the autonomous mobile robot to control movement of the autonomous mobile robot and an elevator cloud server that controls an elevator car are interconnected, comprising:
A method for guiding an autonomous mobile robot to board and disembark, when communication between the autonomous mobile robot waiting in the car to disembark and the robot cloud server is interrupted, by irradiating a light guide from a light irradiation device installed in the car onto the floor surface of the landing at the disembarkation floor, to guide the autonomous mobile robot to move autonomously to the landing.

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