KR-102961458-B1 - Elevator System and Method for Controlling the Same

KR102961458B1KR 102961458 B1KR102961458 B1KR 102961458B1KR-102961458-B1

Abstract

The elevator system is initiated. The above elevator system comprises one or more elevator cars, a video unit, and a control unit, wherein each of the one or more elevator cars comprises one or more elevator cars, and the video unit comprises a first video device installed inside the elevator car and a second video device installed at each floor landing of the building, and the control unit comprises a first control unit that controls and manages the operation of the elevator and a second control unit that controls and manages the operation of the robot, and each of the one or more elevator cars is operated in any one of a non-robot mode, a robot mode, or a co-riding mode.

Inventors

김문수
이승우
이두열

Assignees

현대엘리베이터주식회사

Dates

Publication Date: 20260508
Application Date: 20231013

Claims (11)

It includes one or more elevator cars, a video unit, and a control unit, and The above one or more elevator units each include one or more elevator cars, and The above-mentioned video unit includes a first video device installed inside the elevator car and a second video device installed at each floor landing of the building. The above control unit includes a first control unit that controls and manages the operation of an elevator, and a second control unit that controls and manages the operation of a robot. Each of the above one or more elevator cars is operated in any one of a non-robot-only mode, a robot-only mode, or a co-ride mode, and An elevator system in which the first control unit, when the number of robots or non-robots received from the image unit and the number of robots or non-robots received from the second control unit are different, adjusts the number of robots available for service on each floor of the building according to the number of robots or non-robots received from the image unit and switches the operating mode of the elevator car.
In claim 1, The above image unit is calculated based on image information recognized by the first image device, Number of robots inside a specific elevator car; The number of non-robots inside a specific elevator car; Number of robots inside the entire elevator car for each unit; The number of non-robots inside the entire elevator car for each unit; The number of robots inside all elevator cars in the building; and The number of non-robots inside all elevator cars in the building; An elevator system that transmits one or more of the above to the first control unit.
In claim 1, The above image unit is calculated based on image information recognized by the second image device, Number of robots waiting at the platform in front of a specific unit on a specific floor; The number of non-robots waiting at the platform in front of a specific unit on a specific floor; Number of robots waiting in the entire elevator on a specific floor; Number of non-robots waiting in the entire elevator on a specific floor; Number of robots waiting in the entire station for each unit; Number of non-robots waiting in the entire landing area for each unit; Number of robots waiting in all elevators within the building; and Number of non-robots waiting in the entire elevator area within the building; An elevator system that transmits one or more of the above to the first control unit.
In claim 1, The second control unit above calculates based on the position signal sent by the robot, Number of robots inside a specific elevator car; The number of robots inside the entire elevator car for each unit; and Number of robots inside all elevator cars in the building; An elevator system that transmits one or more of the above to the first control unit.
In claim 1, The second control unit above calculates based on the position signal sent by the robot, Number of robots waiting at the platform in front of a specific unit on a specific floor; Number of robots waiting in the entire elevator on a specific floor; The number of robots waiting in the entire landing area for each unit; and Number of robots waiting in the entire elevator area inside the building; An elevator system that transmits one or more of the above to the first control unit.
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An elevator system control method for controlling an elevator system according to any one of claims 1 to 5.
In claim 7, When a specific elevator unit is operating in the robot-only mode, if, according to the number of robots received from the video unit, there are no robots waiting to board in the entire unit and no robots are inside the elevator car, and this state persists for a certain period of time or longer, The above first control unit is an elevator system control method that switches the corresponding elevator car to the above-mentioned ride mode.
In claim 8, When the elevator unit in question is switched from the robot-only mode to the co-riding mode by the first control unit, and according to the number of non-robots received from the video unit, if a state in which there are no non-robots waiting to board in the entire unit and no non-robots boarding inside the elevator car persists for a certain period of time or longer, The above first control unit is an elevator system control method that converts the corresponding elevator unit from the co-riding mode to the robot-only mode.
In claim 7, When a specific elevator unit is operating in the above-mentioned non-robot dedicated mode, if, according to the number of non-robots received from the above-mentioned video unit, a state in which there are no non-robots waiting to land in the entire unit and no non-robots boarding the elevator car persists for a certain period of time or longer, The above first control unit is an elevator system control method that switches the corresponding elevator car to a co-ride mode.
In claim 10, When the elevator unit is switched from the non-robot-only mode to the co-riding mode by the first control unit, and according to the number of robots received from the video unit, a state in which there are no robots waiting to board in the entire unit and no robots boarding inside the elevator car persists for a certain period of time or longer, The above first control unit is an elevator system control method that converts the corresponding elevator unit from the co-riding mode to the non-robot-only mode.

Description

Elevator System and Method for Controlling the Same The present invention relates to an elevator system and a method for controlling the same. An elevator includes an elevator car that moves along a shaft formed vertically inside a building, a hoisting machine that generates power to raise and lower the elevator car, and a power transmission member that transmits the power from the hoisting machine to the car. An elevator car moves along a vertical shaft formed inside the building. Motors, hoists, and other components that generate power are installed to raise and lower the elevator car. One or more elevators installed inside the building can be controlled and managed integrally. Non-robot and/or robots, such as people, cargo, animals, and plants, can be moved vertically within a building via elevators. Recently, robot-based services have become more active; however, while commercially available robots can move horizontally, they are not designed for vertical movement, so a means of movement between floors within buildings is required. Accordingly, various interlocking control technologies between robots and elevators are being developed to enable robots to board elevators and move between floors within a building. Figure 1 schematically illustrates a robot and a non-robot riding inside an elevator car. FIG. 2 schematically illustrates an example of an image of the inside of an elevator car recognized by a first image device installed inside the elevator car. FIG. 3 schematically illustrates an example of a landing image recognized by a second imaging device installed in the landing. FIG. 4 schematically illustrates an elevator system according to one embodiment of the present invention. FIG. 5 is a schematic flowchart of an elevator system control method according to one embodiment of the present invention. FIG. 6 is a schematic flowchart of an elevator system control method according to another embodiment of the present invention. The configuration and operation of a preferred embodiment of the present invention will be described in detail below with reference to the attached drawings. The present invention can be applied in various ways in the fields of robot control and elevator control. Furthermore, the following embodiments may be modified in various different forms, and the scope of the present invention is not limited to the following embodiments. FIG. 1 schematically illustrates a robot (310) and a non-robot (320), such as a person, riding inside an elevator car (EC). Referring to FIG. 1, the elevator car (EC) included in the elevator system of the present invention can carry not only non-robots (320), such as people, cargo, animals, and plants, but also robots (310). In this specification, the term robot (310) is used broadly to include autonomous mobile bodies, unmanned mobile bodies, and other mechanical devices that move and/or perform tasks automatically or by external control. The robot (310) may be a service robot for providing services on at least one floor within a building. A first video device (110) for capturing images of the inside of the elevator car (EC) may be installed inside the elevator car (EC), and a second video device (120) for capturing images of the elevator hall (where passengers get on and off the elevator) on each floor of the building may be installed. FIG. 2 schematically illustrates an example of an image of the inside of an elevator car (EC) recognized by a first image device (110) installed inside the elevator car (EC). As shown in FIG. 2, the robot (310) and non-robot (320) riding in the elevator car (EC) can be recognized by the first image device (110). FIG. 3 schematically illustrates an example of a landing image recognized by a second imaging device (120) installed in the landing. As shown in FIG. 3, the robot (310) and non-robot (320) waiting in the landing can be recognized by the second imaging device (120). FIG. 4 schematically illustrates an elevator system according to one embodiment of the present invention. Referring to FIG. 4, the system of the present embodiment includes an image unit (100) and a control unit (200). The video unit (100) may include a first video device (110) installed inside the elevator car (EC) and a second video device (120) installed at each floor landing of the building. Various devices capable of video recognition and communication with the control unit (200), such as cameras and CCTVs, may be applied as the first video device (110) and the second video device (120). The control unit (200) may include a first control unit (210) that generally controls and manages the operation of the elevator, and a second control unit (220) that generally controls and manages the operation of the robot (310). The imaging unit (100) recognizes and tracks an object (300). The object (300) may include non-robots (320), such as people, cargo, animals, and plants, and robots (310). The imaging unit (100) can improve the ability to distinguish and d