CN109132742B - Elevator user guidance system - Google Patents
Elevator user guidance system Download PDFInfo
- Publication number
- CN109132742B CN109132742B CN201810499893.7A CN201810499893A CN109132742B CN 109132742 B CN109132742 B CN 109132742B CN 201810499893 A CN201810499893 A CN 201810499893A CN 109132742 B CN109132742 B CN 109132742B
- Authority
- CN
- China
- Prior art keywords
- elevator
- robot
- guidance
- vip
- user
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
- B66B1/18—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
- B66B1/20—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages and for varying the manner of operation to suit particular traffic conditions, e.g. "one-way rush-hour traffic"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4661—Call registering systems for priority users
- B66B2201/4669—Call registering systems for priority users using passenger condition detectors
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention provides an elevator user guidance system, which uses the instruction from a guidance robot to perform the special operation and the priority operation of an elevator for a priority user. A guide robot is disposed in an elevator hall, the guide robot is disposed in the elevator hall, and performs priority guide for a priority user, and a monitoring camera for shooting the vicinity of an entrance of the elevator hall is used, and video data output from the monitoring camera is compared with video data serving as identification data for identifying the priority user, and whether priority guide for the priority user is performed or not is determined. When it is determined to perform priority guidance, the guidance robot disposed in the elevator hall is notified of the elevator car that guides the priority user, receives the notification, and guides the priority user to the entrance of the elevator car.
Description
Technical Field
The present invention relates to elevator user guidance systems.
Background
In a conventional elevator apparatus, during a special or priority elevator operation such as a VIP call or a wheelchair call, a VIP leader, a wheelchair user, or the like performs a predetermined special or priority call registration, thereby giving a priority to calling the car of the elevator. When the car of the elevator arrives and the door is opened, a predetermined operation such as a VIP exclusive operation or a wheelchair priority operation can be performed.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open No. Hei 01-209288
Disclosure of Invention
Technical problem to be solved by the invention
In the conventional technique as described in patent document 1, the door is opened when the distance between the receiving means provided near the landing and the VIP or the transmission means carried by the wheelchair user becomes equal to or less than a predetermined value, but in this case, there is a problem that the door is not opened if the VIP or the wheelchair user does not carry the transmission means.
Further, it is a guidance person who recognizes a specific user such as a VIP or a wheelchair user, performs exclusive operation or preferential operation of an elevator in conjunction with arrival of the specific user at a landing, and registers a VIP call or a wheelchair call. Therefore, there are the following problems: the guidance person must be on standby for his or her full time after making a VIP call or a wheelchair call, and cannot perform other tasks.
An object of the present invention is to provide an elevator user guidance system that does not require a receiving means provided near a landing and a transmitting means carried by an inquirer and does not require a professional leader when a guidance robot is used to guide a priority user.
Technical scheme for solving technical problem
In order to solve the above problems, for example, the structure described in the claims is adopted.
The elevator user guidance system of the present invention includes a plurality of means for solving the above problems, and includes, for example: a management center device that performs control for causing a specific elevator car among a plurality of elevator cars installed in a building to perform priority operation for a priority user; a guide robot disposed near an elevator hall; and a monitoring camera that photographs the vicinity of the elevator hall.
Further comprising: a priority user identification video processing unit that compares video data output from the monitoring camera with video data stored in advance for identifying a priority user, and identifies the priority user; and an operation assignment calculation unit for the elevator, the operation assignment calculation unit calculating assignment of the elevator to the priority user identified by the priority user identification video processing unit. The guidance robot is characterized in that the guidance robot guides the priority user to the landing of the elevator based on the assignment result from the operation assignment calculation unit.
Effects of the invention
According to the present invention, since the arrival time can be optimally adjusted in accordance with the guidance of the priority user, it is possible to suppress the door from remaining in the open state for a long time waiting in the exclusive or priority operation of the elevator. Further, since the guidance robot itself gives guidance to the priority user, it is not necessary to arrange a guide person for the full time of the priority user call.
Problems, structures, and effects other than those described above will be apparent from the following description of the embodiments. In addition, the VIP and the wheelchair user are collectively referred to as "priority user" in the present specification.
Drawings
Fig. 1 is a block diagram showing an overall configuration of an elevator user guidance system according to an embodiment of the present invention.
Fig. 2 is a block diagram showing a configuration of a guidance robot according to an embodiment of the present invention.
Fig. 3 is a diagram showing a hardware configuration of a guidance robot and a management center device according to an embodiment of the present invention.
Fig. 4 is a diagram showing a structure of a group management table according to an embodiment of the present invention.
Fig. 5 is a diagram showing a configuration of a robot management table according to an embodiment of the present invention.
Fig. 6 is a diagram showing the configuration of the VIP plan management table according to the embodiment of the present invention.
Fig. 7 is a flowchart showing processing steps of VIP guidance in an embodiment of the present invention.
Fig. 8 is a flowchart showing the processing procedure of the wheelchair guide in the embodiment of the present invention.
Detailed Description
[ description of the entire System of the embodiment of the present invention ]
An embodiment (hereinafter referred to as "present example") of the elevator user guidance system according to the present invention will be described in detail below with reference to the drawings.
As shown in fig. 1, in the elevator user guidance system of the present example, a plurality of buildings 1 to be managed, a management center apparatus 11, and a plan registration apparatus 12 are connected by a communication line 10.
The building 1 is provided with a plurality of elevators 2 (or elevator machines 2), a plurality of elevator control boards 3, an elevator group management device 4 for group management of the plurality of elevators 2, and a communication device 9. In addition, in the elevator hall 5 of each floor or a part of floors such as the 1-floor elevator hall, a monitoring camera 7 for monitoring a video of a person, a wheelchair, or the like entering the elevator hall 5 and a video recording device 6 for recording a video taken by the monitoring camera are provided.
In the elevator hall 5, a guidance robot 8 for guiding a VIP or a wheelchair user, which is a priority user, is disposed, and the guidance robot 8 is connected to the elevator group management apparatus 4 and the video recording apparatus 6 by wire or wirelessly via a communication apparatus 9. The guiding robot 8 can communicate with each device in the building 1 via a communication device 9, and is further connected to a management center device 11 via a communication line 10 such as the internet. The management center device 11 is a device that centrally manages each device including the guidance robot 8 disposed in each building 1.
In addition, the elevator user guidance system of this example is provided with a plan registration device 12. The plan registration device 12 is connected to the management center device 11 via the communication line 10, and registers a visit reservation of the VIP and the like in the VIP plan management table 11d of the management center device 11. In addition, the VIP plan management table 11d will be explained later using fig. 6.
The elevator group management device 4 provided in the building 1 includes: a group management control unit 4a, a group management Table (TBL)4b, an operation assignment calculation unit 4c, an arrival time calculation unit 4d, and a communication Interface (IF)4 e.
The group management control unit 4a manages a plurality of elevator machines 2 as a group. The group management table 4b is a table in which various kinds of information for managing the operation conditions of the individual elevator machines 2 are recorded. Further, details of the group management table 4b will be described later with reference to fig. 4.
The operation assignment calculation unit 4c calculates and determines which elevator 2 is assigned in accordance with the hall call, the special operation call, or the priority operation call. Then, the arrival time calculation unit 4d calculates the time until the elevator 2 assigned by the operation assignment calculation unit 4c arrives at the floor where the call is present. The communication interface 4e communicates with the elevator control panel 3 and the communication device 9.
[ Structure and function of guide robot ]
Fig. 2 is a block diagram showing a functional configuration of the guidance robot 8. The guide robot 8 is a mobile robot having wheels or legs as a mobile unit. As shown in fig. 2, the guide robot 8 includes: the overall robot control unit 20, the drive mechanism 21, the camera 22, the microphone 23, the speaker 24, the video processing unit 25, the speech control unit 26, the VIP plan management table 27, and the wheelchair recognition image database 28.
The robot overall control unit 20 manages overall control of each function included in the guide robot 8. The drive mechanism 21 is an actuator serving as a power source for driving wheels or legs of the guide robot. The video processing unit 25 performs a process of recognizing a person (for example, VIP) or a wheelchair based on the video from the camera 22. The speech control unit 26 listens to the conversation of the priority user (VIP or wheelchair user) based on the audio from the microphone 23, receives the conversation, and controls the speech to the priority user using the speaker 24.
The VIP plan management table 27 has the same configuration as the VIP plan management table 11d of the management center apparatus 11 described later. The guidance robot 8 can share the plan of the VIP with the management center apparatus 11 by having the VIP plan management table 27.
The wheelchair-recognition image database 28 stores a plurality of images related to wheelchairs, and the guidance robot 8 identifies a wheelchair user by comparing the video from the camera 22 with the images stored in the wheelchair-recognition image database 28. The communication interface 29 is an interface for performing communication between the guidance robot 8 and the elevator group management apparatus 4 and the management center apparatus 11.
[ Structure and function of management center device ]
Referring back to fig. 1, the management center apparatus 11 includes: the guidance system overall control unit 11a, the video data storage area 11b, the robot management table 11c, the VIP plan management table 11d, the VIP identification video processing unit 11e, the wheelchair identification video processing unit 11f, and the communication interface 11 g.
The guidance system overall control unit 11a has a function of controlling the elevator user guidance system of this example as a whole. The video data storage area 11b is a storage area for storing video data distributed from the monitoring cameras 7 or the video recording devices 6 of the buildings 1 through the communication line 10.
The robot management table 11c is a table for managing the guidance robots 8 provided in the elevator halls 5 of each building 1. In addition, details of the robot management table 11c will be described later using fig. 5. The VIP plan management table 11d is a table for managing a plan including VIP information of the VIP identification image data and VIP visiting dates and times, and details will be described later with reference to fig. 6.
The VIP recognition video processing unit 11e recognizes a VIP image from video data distributed from the monitoring cameras 7 or the video recording devices 6 installed in the respective buildings 1. In this identification of the VIP image, the VIP identification image data stored in the video data storage area 11b of the management center apparatus 11 in advance is used.
The wheelchair recognition video processing unit 11f recognizes the wheelchair image from the video data distributed from the monitoring cameras 7 or the video recording devices 6 of the respective buildings 1. In the identification of the wheelchair image, the wheelchair image stored in the video data storage area 11b in advance is used.
In addition, when the VIP recognition video processing unit 11e and the wheelchair recognition video processing unit 11f are collectively referred to as a "priority user recognition video processing unit".
The communication interface 11g is an interface for performing communication between the management center apparatus 11 and each apparatus of each building 1 and the plan registration apparatus 12.
[ hardware configuration of guidance robot and management center ]
Fig. 3 is a diagram showing the hardware configuration of the guidance robot 8 and the management center apparatus 11 used in the elevator user guidance system of this example. Fig. 3A shows a hardware configuration of the guidance robot 8, and fig. 3B shows a hardware configuration of the management center apparatus 11.
As shown in fig. 3A, the guide robot 8 includes: a CPU (Central processing unit) 31, a ROM (Read Only Memory) 32, a RAM (Random access Memory) 33, and a nonvolatile Memory 34 connected to the bus 30. Further, a communication interface (communication IF)35 for communicating with the outside is included.
The CPU31 reads out and executes program codes of software that realizes functions of guiding the respective parts of the robot 8 from the ROM 32. Variables and the like generated during the arithmetic processing performed in the guidance robot 8 are temporarily written into the RAM 33. The CPU31 executes the program codes recorded in the ROM32, thereby realizing various functions in the guidance robot 8.
The communication Interface 35 is the same as the communication Interface 29 shown in fig. 2, and for example, a NIC (Network Interface Card) or the like is used for the communication Interface 35. The robot 8 is guided to perform communication with the communication device 9 in the building 1 through the communication interface 35.
The nonvolatile memory 34 is a nonvolatile memory such as an SSD (Solid State Drive), and programs, data, and the like necessary for the CPU31 to operate are stored in a semi-permanent manner. The nonvolatile memory 34 is provided with a storage area in which the VIP plan management table 27 and the wheelchair recognition image database 28 shown in fig. 2 are stored.
The guide robot 8 includes an output unit 36 and an input unit 37. For example, the camera 22 and the microphone 23 of the guidance robot 8 in fig. 2 correspond to the input unit 36, and the speaker 24 of the guidance robot 8 in fig. 2 corresponds to the output unit 37.
Fig. 3B shows a hardware configuration of the management center apparatus 11 of fig. 1. The CPU41, ROM42, and RAM43 shown in fig. 3B are the same as the CPU31, ROM32, and RAM33 shown in fig. 3A, and therefore, description thereof is omitted here.
The nonvolatile memory 44 is configured by a nonvolatile memory such as an SSD, and a storage area corresponding to the video data storage area 11b, the robot management table 11c, and the VIP plan management table 11d shown in fig. 1 is formed in the nonvolatile memory 44. Programs, data, and the like necessary for the CPU41 to operate are stored in the ROM42 and the nonvolatile memory 44 semi-permanently.
The communication interface (communication IF)45 uses, for example, an NIC, and the communication interface 45 communicates with the communication apparatus 10 and the plan registration apparatus 12 via a communication line.
[ description of various tables ]
Fig. 4 shows a data configuration of a group management table F1 (group management table 4b in fig. 1) used by the group management control part 4a of the elevator group management apparatus 4. As shown in fig. 4, the group management table F1 includes: the number field of the elevator F1a, the run field F1b, the status field F1c, the predicted time of arrival to the next destination floor field F1 d.
The group management table F1 includes fields F1e to F1h for storing assignment statuses for each floor (1 to 4 floors), such as the car position during traveling (□) or waiting (■), the car call (o), the upward hall call (a), or the downward hall call (xxx). The group management control unit 4a performs group management of the elevator 2 by using the operation statuses stored in the fields F1a to F1h of the group management table F1.
As shown in fig. 4, elevator machine No.1 was registered with an up hall call (a) at floor 3 and a car call (o) at floor 4. In addition, the elevator 1 shows a case where the traveling is performed at the 1 st floor (□) and the predicted arrival time at the 3 rd floor is 25 seconds later in the group management operation. Elevator No.2 shows the situation in which floor 4 is in standby (■).
Here, the arrival time calculation unit 4d of the elevator group management apparatus 4 calculates the operation state of each elevator car 2 and the elevator car 2 whose car position has changed. For example, the estimated arrival time 25 seconds of the elevator car No.1 is obtained from the setting of 10 seconds for moving 1 floor and 5 seconds for opening the door after the car arrives. The calculation is based on the premise that the elevator 1 starts to travel from the 1 st floor to the 3 rd floor by using the predicted time that is previously matched with the on-site elevator specifications. That is, in fig. 4, the calculation result of 2 floors × 10 seconds + 25 seconds is stored in the predicted arrival time field F1d as the predicted arrival time of elevator car 1.
Fig. 5 shows a data structure of the robot management table F2 (robot management table 11c in fig. 1) of the management center apparatus 11.
As shown in fig. 5, the robot management table F2 includes: a robot number field (robot No.) F2a, a building name field F2b, a floor field F2c, an operation status field F2d, and a guidance status field F2 e.
Here, in the robot number field F2a, a number (or symbol) for identifying the guidance robot 8 for each floor is stored. Here, the guidance robot 8 is identified by the numbers from robot No.1 to robot No. 4. The building name field F2b indicates the building name where the guidance robot 8 is arranged, and the floor field F2c indicates the floor where the guidance robot 8 is arranged.
The operating state field F2d indicates whether each of the lead robots 8 (here, robots No.1 to No. 4) is operating, waiting, or stopped. Further, in the guidance state field F2e, it is shown to whom the guidance robot 8 is guiding. Here, it is known that robot No.1 is guiding the VIP on floor 1 of building a, and robot No.4 is guiding the wheelchair user on floor 1 of building B.
As described above, the video data of the plurality of monitoring cameras 7 arranged in each building 1 is transmitted to the management center apparatus 11 at a fixed cycle via the video recording apparatus 6. Then, the guidance-system overall control unit 11a of the management center apparatus 11 stores the video data from the monitoring cameras 7 in the video-data storage area 11b together with an identifier indicating which monitoring camera 7 the video from.
Further, the guidance robots 8 of the respective buildings 1 transmit the operation state and the like to the management center apparatus 11 at regular intervals. The guidance-system overall control unit 11a of the management center apparatus 11 stores information such as the operation state of the guidance robot 8 transmitted thereto in the robot management table 11c (robot management table F2 in fig. 5).
The management center apparatus 11 manages the guidance robot 8 using the data stored in the robot operation state field F2d and the guidance state field F2e in the robot management field F2. Fig. 5 shows an example in which robot No.1 in the guidance robot 8 is in guidance for VIP on floor 1 of the a-building, and robot No.2 is in a stop on floor 3 of the a-building. Further, a case is shown in which robot No.3 is on standby at floor 4 of building a, and robot No.4 is in guidance for wheelchair users at floor 1 of building B.
Fig. 6 shows a data structure of the VIP plan management table F3 (the VIP plan management table 11d in fig. 1).
As shown in fig. 6, the VIP plan management table F3 includes: a predetermined time field F3a, a building name field F3b, an elevator boarding field F3c, an elevator descending field F3d, a VIP name field F3e, an image for discrimination field F3F, and an entry direction field F3 g.
The scheduled time field F3a stores the date and time when the VIP plan is registered, and the building name field F3b stores the name of the building in which the VIP plan is registered. In addition, the floor where the elevator is loaded by VIP is stored in the boarding floor field F3c, and the floor where the elevator is unloaded by VIP is stored in the disembarking floor field F3 d. The VIP name field F3e stores the person who the VIP is (for example, the company's own company or the company (B corporation)), and the determination image field F3F stores the face image of the VIP. In addition, the entry direction field F3g stores the direction of entry of the VIP.
The management center 11 manages the plan of the VIP using the VIP plan management table. For example, the record No.1 in fig. 6 shows the case where the 50-point community (the company community) enters from the entrance of the floor 1 of the building a and the elevator is on the floor 4 at the time of 3 months, 21 days, and 8 days. Further, the No.2 record shows that the community is scheduled to leave from the large conference room on the 4 th floor of the a building at 21/3/12. Further, the No.3 record shows that the community 50-out B visited from the entrance of the floor 1 of the building a at day 12 of 3 months 22 and the elevator was on the floor 4, and the No.4 record shows that the community 50-out B was scheduled to leave from the room of the floor 4C and descend to the floor 1 at day 13 of 3 months 22.
[ description of plan registration device ]
The plan registration device 12 shown in fig. 1 is connected to the management center device 11 via a communication line 10 such as the internet. Then, the plan registration device 12 can register the plan of the VIP in the management center 11 using a plan registration screen, not shown. When the plan of the VIP is registered by the plan registration apparatus 12, the guidance-system overall control unit 11a of the management center apparatus 11 stores the registered plan of the VIP in the VIP plan management table 11 d.
[ description of VIP-guided processing steps ]
Next, with reference to fig. 7, the procedure of the elevator user guidance system of this example will be described in the case where the elevator user is a VIP.
First, the plan registration device 12 registers the VIP plan in the VIP plan management table F3 of the management center device 11 (step S1). When the VIP plan is registered, the management center apparatus 11 searches the scheduled time field F3a of the VIP plan management table F3, and determines whether or not the VIP plan of the current day share is registered (step S2). If there is no VIP plan registration for the current day (no at step S2), standby is made.
If it is determined in step S2 that there is a VIP plan for the current day (yes in step S2), a record (for example, No.1 record in fig. 6) of the content of the plan in which VIP guidance is placed is distributed to the guidance robot 8 provided in the elevator riding (elevator riding field F3c) of the building (building name field F3b) registered in the plan for the current day (step S3). The guidance robot 8 is a robot specified by the robot management table 11c (the robot management table F2 in fig. 5) of the management center apparatus 11.
For example, the corresponding record is set to, for example, the No.1 record of the VIP plan management table F3 of fig. 6. The corresponding guidance robot 8 in this case is the robot No.1 equipped at the a-building level 1 shown in No.1 of the robot management table F2 of fig. 5. Therefore, the management center apparatus 11 transmits a corresponding No.1 record, that is, 50 minutes of the social age at 3 months, 21 days, and 8 to the elevator on the 1 st floor to the robot 1.
Next, the management center apparatus 11 determines whether or not a predetermined time (for example, 30 minutes) of 8 hours and 50 minutes before the predetermined time registered in the predetermined time field F3a of the VIP plan management table F3 has elapsed (step S4). If the time is not longer than the predetermined time (no at step S4), the robot 1 is caused to stand by for 8 hours and 20 minutes, which is 30 minutes before the current time and the predetermined time.
When it is determined in step S4 that the predetermined time has elapsed 30 minutes before (8 hours and 20 minutes before) (yes in step S4), the VIP recognition video processing unit 11e of the management center apparatus 11 starts to determine VIP (company' S company) entering the building from the entrance using the corporate face image in the determination image field F3F recorded in corresponding No.1 (step S5). Here, the latest video data of the monitoring cameras 7 of the entries registered in the entry direction field F3g of the VIP plan management table F3 is read, and the latest video data is stored in the video data storage area 11b of the management center apparatus 11.
Next, the VIP recognition video processing unit 11e of the management center apparatus 11 compares the latest video data of the monitoring camera 7 in the entering direction with the registered VIP image, and determines whether or not the images match each other by a predetermined amount or more (for example, 80% or more) (step S6). In step 6, the determination process is repeated until the image matching at least the predetermined value is determined. In step 6, for example, when it is determined that the images match by 80% or more (yes in step S6), the robot 1 is notified that the VIP registered in the plan in which the transfer is completed has arrived from the entering direction (step S7).
The robot No.1 that has received the notification of the arrival of the VIP is developed in the direction of the entering direction, and performs a determination process of performing VIP search from the video data captured by the camera 22 based on the face image of the determination image registered in the plan that has been transferred, and recognizing an image that matches a predetermined level or more (step S8). The VIP search and determination processing is performed by the video processing unit 25 of the robot No.1 (the guidance robot 8). The video processing unit 25 repeats the search and determination processing until an image matching the video data (face image) captured by the camera 22 by a predetermined amount or more is determined (step S9).
When it is determined in step S9 that the images match 80% or more (yes in step S9), for example, the robot 1 starts VIP guidance by transmitting guidance to the elevator to the VIP community using the speech control unit 26 and the speaker 24 (step S10).
When guidance of a VIP starts, robot No.1 first makes an inquiry to the elevator group management apparatus 4 about a VIP guidance located on the floor (floor 1) on which robot No.1 is installed. That is, the robot 1 inquires which elevator 2 the VIP should be directed to (step S11).
The elevator group management device 4 that has received the inquiry of the VIP operation calculates the elevator car 2 that can be transferred to the VIP operation earliest by the operation assignment calculation unit 4c, and suppresses assignment of calls to the elevator hall to the calculated elevator car 2 in order to transfer to the VIP operation, and performs temporary registration of the VIP operation (step S12).
Then, the elevator group management device 4 recalculates the predicted time until the elevator car 2 arrives at the floor (here, floor 1) provided with the robot 1 to inquire, and notifies the elevator car 2 (the elevator car 2) that guides the VIP and the predicted arrival time to the robot 1 by using the arrival time calculation unit 4d (step S13).
Next, the robot No.1, which has received the notification of the elevator car 2 in which the VIP operation is performed and the predicted arrival time of the elevator car 2, calculates the distance from the position where the robot No.1 is currently located to the elevator car 2 of the elevator 5, and calculates the guidance time from the travel time obtained using the normal travel speed of the robot No.1 itself (step S14).
Then, the robot 1 gives an instruction to the elevator group management apparatus 4 to change the VIP operation to the elevator number 2 from the provisional registration to the formal registration, and shifts to the VIP operation state (step S15).
Next, the elevator group management device 4 compares the predicted arrival time at the elevator car 2 arriving at the floor provided with the robot No.1 with the guidance time at which the robot No.1 guides VIP to the landing of the elevator car 2, and determines whether or not the car arrives later than the guidance time at the robot No.1 (step S16). When the time when the elevator car 2 arrives at the floor on which the robot 1 is installed is later than the guidance time of the robot 1 (the predicted arrival time > the guidance time) (yes at step S16), it is determined how much the time difference is (step S17).
When the time difference between the predicted arrival time of the elevator car 2 and the VIP guidance time of the robot 1 is large in step S17, that is, when it takes a considerable time until the arrival of the elevator car 2 (yes in step S17), the elevator group management device 4 issues a command to the call control unit 26 of the robot 1 to win time by making a conversation with the VIP guidance of the robot 1 (step S18). Further, the robot 1 issues a command to move to the elevator car 2 at a speed slower than the normal moving speed (step S19).
In step S16, if the time until the elevator car 2 arrives at the floor on which the robot 1 is installed is earlier than the guidance time of the robot 1 (predicted arrival time < guidance time) (no in step S16), the robot 1 moves to the position of the elevator car 2 at a normal speed (normal movement) (step S26).
In step S17, when the time difference between the predicted arrival time of the elevator car 2 and the VIP guidance time of the robot No.1 is not too large (no in step S17), step S18 (dialogue with VIP) is omitted, and the process proceeds to step S19.
Next, the elevator group management apparatus 4 determines whether or not the robot 1 has reached the vicinity of the landing of the elevator car 2 (step S20). When the robot 1 arrives near the landing of the elevator car 2 (yes in step S20), the robot 1 gives an instruction to the elevator group management device 4 to open the door of the elevator car 2 (step S21), and gives an instruction to call the car to the 4 th floor registered in the lower floor field F3d of the VIP plan management table F3 (step S22).
Next, the robot 1 confirms that the entrance of the VIP to the car of the elevator car 2 is completed (step S23), gives a command to close the door to the elevator group management system 4 (step S24), and ends the VIP guidance at the time of completion of the door closing (step S25).
Although the description has been given of the procedure in fig. 7 in which the robot 1 performs VIP guidance in accordance with the record No.1 of fig. 6 and performs exclusive operation of the elevator car 2, it is needless to say that similar consideration can be given to the other guidance robots 8.
[ description of processing procedure for wheelchair guidance ]
Next, referring to fig. 8, the procedure of the elevator user guidance system of the present embodiment will be described in the case where the elevator user is a wheelchair user.
Here, the wheelchair user includes, for example, a visitor with a child who uses a stroller, in addition to a disabled person who uses a wheelchair.
First, the management center apparatus 11 determines whether or not each building 1 is open (step S41). When each building 1 is not opened, it stands by until it is opened (no at step S41). Then, the management center apparatus 11 obtains video data of the camera 7 that monitors wheelchair users in the area of the elevator hall 5 of each floor of the open building 1 by the wheelchair recognition video processing unit 11 e.
The management center apparatus 11 performs image determination processing for determining whether or not the video data captured by the camera 7 matches a wheelchair image for determination stored in the video data storage area 11b in advance. Then, it is determined whether or not the video data captured by the camera 7 matches an image in which the wheelchair image for determination stored in the video data storage area 11b in advance is 80% or more, for example (step S42). The image discrimination at step S42 is repeated until an image that matches 80% or more is found (no at step S42).
If it is determined in step S42 that the images match by 80% or more (yes in step S42), the management center 11 identifies the guidance robot 8 installed on the floor corresponding to the building 1 based on the information on the installation position of the monitoring camera 7 and the robot management table 11c, and reads the operation state (step S43).
Then, it is determined whether or not the guidance robot 8 is currently guiding the current VIP or another wheelchair user (priority user) (step S44).
If it is determined in step S44 that the guidance robot 8 is guiding the priority user (no in step S44), the management center apparatus 11 discards the wheelchair detection result captured by the camera 7 and returns to step S42. On the other hand, if the guidance robot 8 installed on the corresponding floor is not in the guidance state, that is, if it is in the standby state (yes at step S44), the management center apparatus 11 notifies the guidance robot 8 of the direction from which the wheelchair user enters (step S45). Here, a procedure of guiding the wheelchair user will be described by taking, as an example, a robot 4 for guiding the wheelchair user at the level 1 of the building shown in the No.4 record of fig. 5 as the guiding robot 8.
The robot 4 that has received the notification of the wheelchair user' S visit is developed in the direction of the entering direction, and the video processing unit 25 starts wheelchair search and determination processing for recognizing an image that matches a predetermined level or more from the image database 28 for wheelchair recognition that is stored in advance (step S46). This determination process is repeated until an image matching a predetermined level or more is determined (step S47).
When it is determined in step S47 that the images match 80% or more (yes in step S47), for example, the robot 4 transmits a message to the wheelchair user to guide the wheelchair user using the speech control unit 26, and starts the wheelchair user' S guidance (step S48).
Next, the robot No.4 inquires of the elevator group management apparatus 4 about the operation of the wheelchair on the 1 st floor of the B building equipped with the robot No.4 (step S49). I.e. to which elevator car 2 the wheelchair user should be guided.
The elevator group management device 4 that has received the inquiry of the wheelchair guidance from the robot No.4 calculates the elevator car 2 that can be transferred to the wheelchair priority operation the earliest by the operation assignment calculation section 4c, and performs temporary registration of the wheelchair priority operation in order to transfer to the wheelchair priority operation while suppressing the assignment of calls to the elevator car 2 to the elevator hall (step S50).
Then, the elevator group management device 4 recalculates the predicted time until the elevator car 2 arrives at the 1 st floor of the B building including the robot No.4 by the arrival time calculation unit 4d, and notifies the robot No.4, which is inquired by the pair of the elevator car 2 and the arrival predicted time (step 51).
Next, the robot 4 that has received the notification of the elevator car 2 in which the wheelchair is operating and the arrival prediction time calculates the distance from the position where the robot 4 is currently located to the landing of the elevator 5 on the elevator car 2, and calculates the guidance time of the wheelchair user based on the travel time obtained using the normal travel speed of the robot 4 itself (step S52).
Thereafter, the robot 4 gives an instruction to the elevator group management apparatus 4 to change the wheelchair traveling to the elevator 2 from the provisional registration to the formal registration, and shifts to the wheelchair traveling state (step S53). Then, the robot 4 compares the predicted arrival time of the elevator car 2 at the floor 1 on which the robot 4 arrives with the guidance time of the robot 4 guiding the wheelchair user to the elevator car 2, and determines whether the car arrives late, that is, whether the predicted arrival time > the guidance time (step S54).
When it is determined that the time at which the elevator car 2 arrives at the floor on which the robot 4 is installed is later than the guidance time of the robot 4 (predicted arrival time > guidance time) (yes at step S54), it is determined how much the time difference is (step S55).
When the time difference between the predicted arrival time of the elevator car 2 and the wheelchair guide time of the robot is large in step S55, that is, when it takes a considerable time until the arrival of the elevator car 2 (yes in step S55), the elevator group management apparatus 4 issues a command to the speech control unit 26 of robot No.4 to win time by making a conversation with the wheelchair user guided by robot No.4 (step S56). Further, the robot 4 is instructed to move to the elevator car 2 at a speed slower than the normal moving speed (step S57).
In step S54, if the time until the elevator car 2 arrives at the floor on which the robot No.4 is installed is earlier than the guidance time of the robot No.4 (predicted arrival time < guidance time) (no in step S54), the robot No.4 moves to the landing of the elevator car 2 at a normal speed (normal movement) (step S64). In step S55, if the time difference between the predicted arrival time of the elevator car 2 and the guide time of the wheelchair user is not so large, that is, if the arrival time of the elevator car 2 to the floor of the robot No.4 is not so large (no in step S55), step S56 (dialogue with the wheelchair user) is omitted, and the process proceeds to step S57.
Next, the robot No.4 guides the wheelchair user and determines whether or not the user has reached the vicinity of the landing of the elevator car 2 (step S58). When the robot 4 arrives near the hall of the elevator car 2 (yes at step S58), the robot 4 gives the elevator group management device 4a command to open the door of the elevator car 2 (step S59), and gives a car call to the destination floor heard from the wheelchair user by a dialogue (step S60).
Next, the robot 4 confirms that the wheelchair user has completed the boarding of the car of the elevator car 2 (step S61), gives a command to close the door of the elevator group management system 4, that is, a command to start traveling by wheelchair operation (step S62), and ends the wheelchair guidance at the time of completion of the door closing (step S63).
As described above, in the elevator user guidance system of this example, video data from the monitoring camera 7 that captures images of the vicinity of the entrance of the elevator hall 5 where the guidance robot 8 is disposed and identification image data for identifying a priority user (VIP or wheelchair user) are used. Then, the management center apparatus 11 and the guidance robot 8 cooperate to detect the entry of the priority user, and the guidance robot 8 causes the elevator group management apparatus 4 to switch the operation to the priority user.
Further, the predicted arrival time to the floor where the guidance robot 8 is disposed and the elevator car 2 that performs switching to the operation of the priority user are obtained, and the priority user is guided to the landing of the elevator car 2 while adjusting the guidance moving speed. Then, by allowing the guidance robot 8 arriving at the elevator car 2 to give an instruction to open the door to the elevator group management apparatus 4, it is possible to suppress long waiting time when the priority user is in the door-open state in the case of operation.
Thus, since the car arrival time of the elevator car 2 can be made substantially equal to the guidance time for the guidance robot 8 to guide to the landing of the elevator car, it is not necessary to assign a special guidance person to the priority user.
In the elevator user guidance system of this example, functions are described separately for the functions of the management center apparatus 11 and the guidance robot 8 as shown in fig. 1 and 2, but the functions included in the guidance robot 8 and the functions included in the management center apparatus 11 may be exchanged for each other. That is, a part of the functions of the management center apparatus 11 may be incorporated into the guide robot 8, and conversely, the functions of the guide robot 8 may be incorporated into the management center apparatus 11.
Some or all of the above-described structures, functions, processing units, and the like may be implemented by hardware, for example, by designing an integrated circuit. Further, the above-described respective structures, functions, and the like may be realized by software by interpreting and executing a program that realizes the respective functions by a processor. Information such as programs, tables, and files for realizing the respective functions can be stored in a recording device such as a memory, a hard disk, and an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, and a DVD.
Note that the control lines and information lines are only shown as necessary for the description, and not necessarily all the control lines and information lines in the product. Virtually all structures can also be considered interconnected.
The present invention is not limited to the embodiments disclosed in the specification and the drawings, and obviously includes other application examples and modifications as long as they do not depart from the contents described in the claims.
Description of the reference symbols
1 building, 2 elevator (elevator), 3 elevator control panel, 4 elevator group management device, 4a group management control unit, 4b, F1 group management table, 4c operation allocation calculation unit, 4d arrival time calculation unit, 4e communication interface, 5 elevator hall, 6 monitoring camera, 7 video recording device, 8 guidance robot, 9 communication device, 10 communication line, 11 management center device, 11a guidance system overall control unit, 11b video data storage area, 11c, F2 robot management table, 11d, F3VIP plan management table, 11 efuse identification video processing unit, 11F wheelchair identification video processing unit, 11g communication interface, 12 plan registration device, 20 robot overall control program, 21 drive mechanism, 22 camera, 23 microphone, 24 speaker, 25 video processing unit, 26 conversation control unit, 27, F3VIP plan management table, 3VIP plan registration device, 2 elevator (elevator), 3 elevator control panel, 4c operation allocation calculation unit, 4d, 4c communication interface, 5 elevator hall, 6 monitoring camera, 7 video recording device, 11d, 11c, 11, 28 image data for wheelchair identification, and 29 communication interface.
Claims (4)
1. An elevator user guidance system comprising: a management center device that performs control for causing a specific elevator car among a plurality of elevator cars installed in a building to perform priority operation for a priority user; a guide robot disposed near an elevator hall; and a monitoring camera that photographs the vicinity of an elevator hall, the elevator user guidance system comprising:
a priority user identification video processing unit that compares video data output from the camera with video data stored in advance for identifying the priority user, and identifies the priority user; and
an operation assignment calculation unit for the elevator, the operation assignment calculation unit calculating assignment of an elevator to the priority user identified by the priority user identification video processing unit,
the guidance robot guides the priority user to a landing of the elevator based on the assignment result from the operation assignment calculation unit,
the guidance robot guides the determined priority user to the elevator while adjusting a moving speed for guiding the priority user to the elevator,
when the time difference between the predicted arrival time of the elevator car and the priority user guidance time of the guidance robot is large, a dialogue is performed with the priority user guided by the guidance robot to seek time and the guidance robot is moved at a speed slower than a normal moving speed,
on the other hand, when the predicted arrival time of the elevator car is earlier than the priority user guidance time of the guidance robot, moving the guidance robot at the normal moving speed,
and when the elevator number arrives at the elevator hall, carrying out an instruction of opening an elevator door on the elevator group management device.
2. The elevator user guidance system of claim 1,
the preferential operation of the preferential user is VIP special operation or wheelchair preferential operation.
3. The elevator user guidance system of claim 2,
the guidance robot notifies the elevator group management apparatus of the switching of the VIP exclusive run or the wheelchair priority run,
the elevator group management device notifies the guidance robot of the elevator car switched to the VIP-only operation or wheelchair-prioritized operation and the arrival prediction time of the elevator car to the elevator hall,
the guiding robot guides the priority user to the elevator car in cooperation with arrival time of the elevator car to the elevator hall.
4. The elevator user guidance system of claim 2 or 3,
a plan registration device connected to the communication line is provided,
the plan registration device registers a plan for a VIP exclusive operation in the management center device when the priority user is a VIP, using a plan registration screen, and the guidance robot guides the VIP to a landing of a designated elevator according to the plan of the VIP registered in the management center device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017118086A JP6800811B2 (en) | 2017-06-15 | 2017-06-15 | Elevator user guidance system |
| JP2017-118086 | 2017-06-15 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109132742A CN109132742A (en) | 2019-01-04 |
| CN109132742B true CN109132742B (en) | 2020-10-16 |
Family
ID=64801785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810499893.7A Active CN109132742B (en) | 2017-06-15 | 2018-05-23 | Elevator user guidance system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6800811B2 (en) |
| CN (1) | CN109132742B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6786459B2 (en) * | 2017-09-15 | 2020-11-18 | 株式会社日立製作所 | Building management system equipment |
| JP7327472B2 (en) * | 2019-05-17 | 2023-08-16 | 三菱電機株式会社 | Robot movement support system |
| CN110316622A (en) * | 2019-07-16 | 2019-10-11 | 广东卓梅尼技术股份有限公司 | Intelligent priority elevator control method, device, equipment and readable storage medium storing program for executing |
| JP6885430B2 (en) * | 2019-08-09 | 2021-06-16 | フジテック株式会社 | Self-propelled equipment and systems |
| CN112520517B (en) * | 2019-09-18 | 2024-04-26 | 奥的斯电梯公司 | Elevator control system, elevator system and control method for elevator system |
| CN111232773A (en) * | 2019-11-12 | 2020-06-05 | 恒大智慧科技有限公司 | Elevator control method and system based on unmanned aerial vehicle monitoring and storage medium |
| CN115003616A (en) * | 2020-02-03 | 2022-09-02 | 通力股份公司 | Generation of control signals |
| US11932512B2 (en) * | 2020-03-16 | 2024-03-19 | Otis Elevator Company | Methods and architectures for end-to-end robot integration with elevators and building systems |
| CN112390103B (en) * | 2020-10-13 | 2022-06-21 | 日立楼宇技术（广州）有限公司 | Method and device for monitoring elevator waiting, computer equipment and storage medium |
| WO2022190320A1 (en) * | 2021-03-11 | 2022-09-15 | 株式会社Fuji | Raising/lowering movement control system and raising/lowering movement control method |
| CN114905528A (en) * | 2022-06-01 | 2022-08-16 | 武汉盛恒达智能科技有限公司 | Automatic adjusting robot applied to stair movement and using method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002348055A (en) * | 2001-05-23 | 2002-12-04 | Mitsubishi Electric Corp | User guide device of elevator |
| CN104136352A (en) * | 2012-02-27 | 2014-11-05 | 奥的斯电梯公司 | Elevator control system |
| CN104340784A (en) * | 2013-08-06 | 2015-02-11 | 株式会社日立制作所 | Elevator control system |
| JP2015171930A (en) * | 2014-03-12 | 2015-10-01 | 三菱電機株式会社 | Elevator system |
| CN106315316A (en) * | 2015-06-16 | 2017-01-11 | 奥的斯电梯公司 | Elevator system and control method for same |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11268879A (en) * | 1998-03-20 | 1999-10-05 | Mitsubishi Electric Corp | Operation controller for elevator |
| JP2005329515A (en) * | 2004-05-21 | 2005-12-02 | Hitachi Ltd | Service robot system |
| JP2008162758A (en) * | 2006-12-28 | 2008-07-17 | Toshiba Elevator Co Ltd | Control system for elevator guidance robot |
| JP2010189183A (en) * | 2009-02-20 | 2010-09-02 | Mitsubishi Electric Corp | Elevator control device |
| JP2014234303A (en) * | 2013-06-05 | 2014-12-15 | 株式会社日立製作所 | Elevator apparatus with vip function |
-
2017
- 2017-06-15 JP JP2017118086A patent/JP6800811B2/en active Active
-
2018
- 2018-05-23 CN CN201810499893.7A patent/CN109132742B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002348055A (en) * | 2001-05-23 | 2002-12-04 | Mitsubishi Electric Corp | User guide device of elevator |
| CN104136352A (en) * | 2012-02-27 | 2014-11-05 | 奥的斯电梯公司 | Elevator control system |
| CN104340784A (en) * | 2013-08-06 | 2015-02-11 | 株式会社日立制作所 | Elevator control system |
| JP2015171930A (en) * | 2014-03-12 | 2015-10-01 | 三菱電機株式会社 | Elevator system |
| CN106315316A (en) * | 2015-06-16 | 2017-01-11 | 奥的斯电梯公司 | Elevator system and control method for same |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2019001614A (en) | 2019-01-10 |
| JP6800811B2 (en) | 2020-12-16 |
| CN109132742A (en) | 2019-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109132742B (en) | Elevator user guidance system | |
| JP6619760B2 (en) | Elevator apparatus, elevator system, and autonomous robot control method | |
| US10457521B2 (en) | System and method for alternatively interacting with elevators | |
| KR100367365B1 (en) | Management controller of elevators | |
| CN109693980B (en) | Elevator dispatching method, device and system | |
| JP6742962B2 (en) | Elevator system, image recognition method and operation control method | |
| JP6622240B2 (en) | Elevator user guidance system and method | |
| US10196235B2 (en) | Generating destination calls for an elevator system | |
| JP2014504998A (en) | Automation in elevator call and supply car allocation | |
| JP6776549B2 (en) | Elevator group management control device and group management system, and elevator system | |
| JP2019081622A (en) | Vehicle allocation system of external system cooperation and method | |
| JP7177488B2 (en) | Elevator operation control system, elevator system, and elevator operation control method | |
| JP2019099327A (en) | Elevator system | |
| JP2018203421A (en) | Elevator control device, elevator group management control device, elevator system, and elevator control method | |
| TW201904851A (en) | Elevator system with visitor mode | |
| JP2011195280A (en) | Group supervisory operation control system of elevator | |
| JP2018002351A (en) | Elevator system and group management control device | |
| JP6885363B2 (en) | Elevator system | |
| JP6536484B2 (en) | Elevator system | |
| JP7461277B2 (en) | Elevator group management control device and platform congestion avoidance control method. | |
| CN111891888B (en) | Self-tuning door timing parameters | |
| JP2012086922A (en) | Elevator system | |
| WO2023132075A1 (en) | Elevator system and method for allocating elevator car | |
| JP6533979B2 (en) | Elevator system | |
| JP6402074B2 (en) | Group management elevator device and allocation method of boarding car by group management |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |