阅读说明：本技术 移动辅助系统 (Mobile assistance system ) 是由 釜坂等 五明清司 丸田正一 根岸启吾 铃木悠太 渡边启嗣 于 2019-05-15 设计创作，主要内容包括：提供能够使人和机器人分别高效地移动的移动辅助系统。移动辅助系统具有：人用目的地楼层登记装置,其受理人的目的地楼层的登记；机器人用目的地楼层登记装置,其受理机器人的目的地楼层的登记；以及组管理装置,其区分所述人用目的地楼层登记装置的登记和所述机器人用目的地楼层登记装置的登记,从电梯的多个轿厢中决定分配给与由所述人用目的地楼层登记装置登记的目的地楼层对应的呼梯的轿厢和分配给与由所述机器人用目的地楼层登记装置登记的目的地楼层对应的呼梯的轿厢。(Provided is a movement assistance system capable of efficiently moving a human and a robot, respectively. The movement assistance system includes: a human destination floor registration device which accepts registration of a human destination floor; a robot destination floor registration device that receives registration of a destination floor of a robot; and a group management device that distinguishes between the registration of the human destination floor registration device and the registration of the robot destination floor registration device, and determines, from among a plurality of cars of an elevator, a car to be assigned to a call corresponding to the destination floor registered by the human destination floor registration device and a car to be assigned to a call corresponding to the destination floor registered by the robot destination floor registration device.)

1. A mobility assistance system, the mobility assistance system having:

a human destination floor registration device which accepts registration of a human destination floor;

a robot destination floor registration device that receives registration of a destination floor of a robot; and

and a group management device that distinguishes between the registration of the human destination floor registration device and the registration of the robot destination floor registration device, and determines, from among a plurality of cars of an elevator, a car to be assigned to a call corresponding to the destination floor registered by the human destination floor registration device and a car to be assigned to a call corresponding to the destination floor registered by the robot destination floor registration device.

2. The mobility assistance system of claim 1,

the movement assistance system includes a plurality of control devices that control the plurality of cars, respectively,

the group management device outputs an instruction to a control device that controls a car assigned to a call corresponding to a destination floor registered by the robot destination floor registration device so that the car operates in a robot-dedicated mode.

3. The mobility assistance system of claim 1 or 2, wherein,

the group management device sets the priority of the robot to be lower than the priority of the person, and determines a car assigned to a call corresponding to a destination floor registered by the destination floor registration device for the person and a car assigned to a call corresponding to a destination floor registered by the destination floor registration device for the robot.

4. The mobility assistance system of any one of claims 1 to 3, wherein,

the group management device cancels the assignment of the car to the robot when the car assigned to the call corresponding to the destination floor registered by the destination floor registration device for the robot is determined and the destination floor is registered by the destination floor registration device for the robot, and changes the car whose assignment is cancelled to the car assigned to the destination floor of the destination floor registration device for the robot.

5. The mobility assistance system of any one of claims 1 to 4, wherein,

the group management device determines a car to be assigned to a call corresponding to a destination floor registered by the human destination floor registration device and a car to be assigned to a call corresponding to a destination floor registered by the robot destination floor registration device, based on information on whether or not the robot can ride on the person.

6. The mobility assistance system of any one of claims 1 to 5, wherein,

the group management device calculates predicted arrival times at which the plurality of robots arrive at the hall based on the moving speeds of the plurality of robots, and determines whether the plurality of robots can be multiplied together based on the predicted arrival times at which the plurality of robots arrive at the hall.

7. The mobility assistance system of any one of claims 1 to 6, wherein,

the group management device determines a car to be assigned to a call corresponding to a destination floor registered by the human destination floor registration device and a car to be assigned to a call corresponding to a destination floor registered by the robot destination floor registration device, based on information indicating whether or not a human can ride.

8. The mobility assistance system of any one of claims 1 to 7, wherein,

the group management device does not turn on an indicator lamp that notifies the arrival of a car assigned to the robot.

9. The mobility assistance system of any one of claims 1 to 8, wherein,

the group management device does not open the car door until the robot goes in front of the landing door.

10. The mobility assistance system of any one of claims 1 to 9,

the group management device causes a projection device of the robot to display projection information on a landing door or a floor of the landing in a state where the robot is waiting for the car in front of the landing door.

Technical Field

The present invention relates to a mobility assistance system.

Background

Patent document 1 discloses an elevator system. When a user operates a destination floor registration device to register a destination floor, the elevator system analyzes information on the floor of the destination floor registration device, information on a destination floor to be moved, and an operating state of an elevator, and determines an optimal car.

Documents of the prior art

Patent document

Patent document 1: international publication No. 2010-095220

Disclosure of Invention

Problems to be solved by the invention

However, the elevator system described in patent document 1 does not assume coexistence of a human and a robot. Therefore, the person and the robot 1 cannot be moved efficiently.

The present invention has been made to solve the above problems. The invention aims to provide a movement assistance system which can make a person and a robot move efficiently.

Means for solving the problems

The movement assistance system of the present invention includes: a human destination floor registration device which accepts registration of a human destination floor; a robot destination floor registration device that receives registration of a destination floor of a robot; and a group management device that distinguishes between the registration of the human destination floor registration device and the registration of the robot destination floor registration device, and determines, from among a plurality of cars of an elevator, a car to be assigned to a call corresponding to the destination floor registered by the human destination floor registration device and a car to be assigned to a call corresponding to the destination floor registered by the robot destination floor registration device.

Effects of the invention

According to the present invention, the group management device distinguishes between the registration of the destination floor registration device for human use and the registration of the destination floor registration device for robot use, and determines, from among a plurality of cars of an elevator, a car to be assigned to a call corresponding to a destination floor registered by the destination floor registration device for human use and a car to be assigned to a call corresponding to a destination floor registered by the destination floor registration device for robot use. Therefore, the person and the robot can be efficiently moved.

Drawings

Fig. 1 is a configuration diagram of a mobility assistance system according to embodiment 1.

Fig. 2 is a diagram showing an example of information of a registration table of the mobility assistance system in embodiment 1.

Fig. 3 is a hardware configuration diagram of an elevator group management device to which the movement assistance system of the robot 1 in embodiment 1 is applied.

Fig. 4 is a diagram showing an example of a registration table of the mobility assistance system in embodiment 2.

Fig. 5 is a diagram showing an example of a registration information table of the mobility assistance system in embodiment 3.

Fig. 6 is a diagram showing an example of a registration information table of the mobility assistance system in embodiment 4.

Fig. 7 is a diagram showing an example of a registration information table of the mobility assistance system in embodiment 5.

Fig. 8 is a configuration diagram of a mobility assistance system according to embodiment 6.

Fig. 9 is a diagram showing an example of information projection in the mobility assistance system according to embodiment 7.

Detailed Description

The mode for carrying out the invention is explained in accordance with the drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals. Repeated explanation of this portion is appropriately simplified or omitted.

Embodiment mode 1

Fig. 1 is a configuration diagram of a mobility assistance system according to embodiment 1.

In fig. 1, a robot 1 is provided to be able to walk autonomously.

The cars 2 of a plurality of elevators are each provided so as to be longitudinally movable in the building.

Each of the plurality of destination floor registration devices 3 for human use and each of the plurality of destination floor registration devices 4 for robot use are provided in a landing of each of the plurality of elevators. Each of the plurality of control devices 5 is provided to be able to control the operation of each of the plurality of cars 2. The group management device 6 is provided to be able to control the plurality of control devices 5.

The group management apparatus 6 has a registry information storage unit 6 a. The registration table information storage unit 6a stores information in which the boarding floor 7a, the alighting floor 7b, and the type 7c are associated with each other.

The information of the boarding floor 7a is information of a floor on which a destination floor is registered. The information of the landing floor 7b is information of a registered destination floor. The type 7c is information of the type of the destination floor registration device in which the destination floor is registered.

The person registers the destination floor with the destination floor registration device 3. The robot 1 registers a destination floor by using a destination floor registration device 4 for a robot. The information on the registered destination floors is stored in the registration table information storage unit 6 a. The group management device 6 plans the allocation of the cars 2 based on the information stored in the registration table information storage unit 6 a. At this time, the group management device 6 distinguishes the person or the robot 1 based on the information of the type 7c, and determines the car 2 to which a call is assigned. The group management device 6 instructs the control device 5 to allocate the car 2.

Next, an example of the information of the registration table will be described with reference to fig. 2.

Fig. 2 is a diagram showing an example of information of a registration table of the mobility assistance system in embodiment 1.

In fig. 2, there is an example of the following case: a person (a), a person (b), a person (c), and a person (d) register 2 floors, 5 floors, 2 floors, and 5 floors as destination floors, respectively, by using a destination floor registration device 3 for a person on floor 1, and the robot 1(x) registers 2 floors as destination floors by using a destination floor registration device 4 for a robot on floor 1. In addition, the number of passengers in the car 2 is set to 3 or more.

The group management device 6 calculates the optimal operation of the elevator based on the information of the registration table. For example, the person (a) is assigned to the car 2 stopped at a on level 2. The person (B) is assigned to the car 2 stopped at B on 5 floors. The person (c) is assigned to the car 2 stopped at a on level 2. The person (d) is assigned to the car 2 stopped at B on 5 floors. Then, the group management device 6 causes the human destination floor registration device 3 to display information in which the destination floor is associated with the information on the type of the assigned car 2.

The group management device 6 recognizes that the robot 1(x) is the "robot 1" from the information stored in the registration table information storage unit 6 a. At this time, the robot 1(x) is assigned to a car 2 that stops at C on level 2, which is different from the car 2 to which a person is assigned. Then, the group management device 6 notifies the robot 1(x) of information associating the destination floor with the type of the car 2 to be assigned.

For example, the group management device 6 outputs information associating the destination floor with the information of the type of the car 2 to be assigned to the robot 1 (x). In this case, the robot 1(x) identifies the car 2 to which the destination floor is assigned, based on the information.

For example, the group management device 6 causes the robot destination floor registration device 4 to display information associating the destination floor with the type of the car 2 to be assigned, using an LED or the like. In this case, the robot 1(x) recognizes the car 2 to which the destination floor is assigned, based on the display content of the LED or the like.

According to embodiment 1 described above, the group management device 6 allocates the car 2 so that the person and the robot 1 do not ride on the same car. Therefore, the person and the robot 1 can be efficiently moved. At this time, if the car 2 assigned to the robot 1 is operated in the robot-dedicated mode, the robot 1 can be moved more efficiently.

For example, in the registration table of fig. 2, conventionally, the robot 1(x) is assigned to the car 2 that stops at a floor 2. In contrast, in embodiment 1, the robot 1(x) is reliably assigned to the car 2 different from the car 2 to which the person is assigned.

Further, the functions of the human destination floor registration device 3 and the robot destination floor registration device 4 may be integrated into 1 destination floor registration device. In this case, the destination floor registration device may be provided with a function of identifying the type 7 c. For example, as a function of the identification type 7c, a switch for switching between human use and robot use may be provided. For example, as the function of the identification type 7c, a person may register a destination floor by manual operation, and the robot 1 may register the destination floor by communication. Even in these cases, the human and the robot 1 can be moved efficiently.

Further, the car 2 may not be assigned exclusively to the robot 1, and the robot 1 may ride together. Then, the robot 1 is forced to descend at the destination floor of the person, and the car 2 may be assigned again. In this case, the robot 1 can be moved without sacrificing the efficiency of the movement of the person.

Further, the robot 1 may be multiplied by a person to absorb the variation in the average waiting time of the plurality of cars 2 assigned to the person. In this case, the elevator can be efficiently operated.

The average waiting time of the robot 1 and the average waiting time of the person may be set to different values, and the car 2 to be assigned may be determined. In this case, the elevator can be operated more appropriately.

Next, an example of the group management device 6 will be described with reference to fig. 3.

Fig. 3 is a hardware configuration diagram of an elevator group management device to which the movement assistance system of the robot 1 in embodiment 1 is applied.

The respective functions of the group management device 6 can be realized by a processing circuit. For example, the processing circuit has at least 1 processor 100a and at least 1 memory 100 b. For example, the processing circuit has at least 1 dedicated hardware 200.

In case the processing circuit has at least 1 processor 100a and at least 1 memory 100b, the respective functions of the group management device 6 are implemented by software, firmware or a combination of software and firmware. At least one of the software and the firmware is referred to as a program. At least one of the software and the firmware is stored in at least 1 memory 100 b. The at least 1 processor 100a reads out and executes the program stored in the at least 1 memory 100b, thereby realizing each function of the group management device 6. At least 1 processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP. For example, the at least one memory 100b is a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, and an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD.

In case of a processing circuit with at least 1 dedicated hardware 200, the processing circuit is for example realized by a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA or a combination thereof. For example, the respective functions of the group management device 6 are realized by processing circuits, respectively. For example, the functions of the group management device 6 are realized collectively by the processing circuit.

The functions of the group management apparatus 6 may be implemented partially by dedicated hardware 200 and partially by software or firmware. For example, the function of determining the car 2 assigned to a call is realized by a processing circuit as dedicated hardware 200, and the function other than the function of determining the car 2 assigned to a call is realized by at least 1 processor 100a reading out and executing a program stored in at least 1 memory 100 b.

Thus, the processing circuitry implements the functions of the group management device 6 by hardware 200, software, firmware or a combination thereof.

Although not shown, the functions of the control device 5 may be realized by a processing circuit equivalent to the processing circuit that realizes the functions of the group management device 6.

Embodiment mode 2

Fig. 4 is a diagram showing an example of a registration table of the mobility assistance system in embodiment 2. The same or corresponding portions as those in embodiment 1 are denoted by the same reference numerals. The description of this part is omitted.

As shown in fig. 4, the registration table information storage unit 6a stores information in which the boarding floor 7a, the alighting floor 7b, the genre 7c, and the priority 7d are associated with each other.

The priority 7d is information of the assigned priority of the car 2. For example, "1" is set when the priority 7d is highest. If the priority 7d is the lowest, "10" is set.

The group management device 6 also decides the assignment of the car 2 in consideration of the priority 7 d. For example, the priority of the robot 1 is set to be lower than the priority of a human.

According to embodiment 2 described above, the car 2 is assigned with priority to the person. Therefore, even when the robot 1 uses an elevator, the person can be moved efficiently.

In addition, when the car 2 is assigned to the robot 1, the assignment of the robot 1 may be cancelled according to the registration state of a call by a person. In this case, the person can be moved more efficiently.

For example, in the same manner as in embodiment 1, the maximum number of passengers of the elevator is 3, and there are an elevator a, an elevator B, and an elevator C. In this case, as in embodiment 1, the person (a) is assigned to the car 2 stopped at the floor 2 a. The person (B) is assigned to the car 2 stopped at B on 5 floors. The person (a) is assigned to the car 2 stopped at a on level 2. The person (d) is assigned to the car 2 stopped at B on 5 floors. The robot 1(x) is assigned to a car 2 that stops at C on level 2, which is different from the car 2 to which a person is assigned.

In this state, when the person (e), the person (f), and the person (g) register 5 floors in this order as destination floors, the person (e) is assigned to the car 2 stopped at B on 5 floors. As a result, the number of passengers in the car 2 of B becomes 3, which is the maximum number of passengers. Therefore, the person (f) and the person (g) are not assigned to the car 2 stopped at B on the 5 th floor.

Typically, person (f) and person (g) wait until the next allocation. In contrast, if the priority of the robot 1(x) is low, the assignment of the car 2 of C is cancelled. At this time, the robot 1(x) receives a notification of information indicating that the assignment is cancelled. Then, the person (f) and the person (g) are assigned to the car 2 stopped at the C of 5 floors.

Embodiment 3

Fig. 5 is a diagram showing an example of a registration information table of the mobility assistance system in embodiment 3. The same or corresponding portions as those in embodiment 1 are denoted by the same reference numerals. The description of this part is omitted.

As shown in fig. 5, the registration table information storage unit 6a stores information in which the boarding floor 7a, the alighting floor 7b, the type 7c, the priority 7d, and the application 7e are associated with each other.

The information of the application 7e is information of the application of the robot 1.

In this case, the priority 7d is automatically determined according to the application 7 e.

For example, the priority 7d of the use 7e as "food distribution" is "6". The priority 7d of the use 7e is "7" for "medicine dispensing (timing)". In this case, "food delivery" is prioritized over "drug delivery (timing)". For example, the priority 7d of the application 7e, which is "drug delivery (emergency)", is "3". In this case, the drug delivery (emergency) takes precedence over the food delivery.

The group management device 6 determines the assignment of the cars 2 based on the information stored in the registration table information storage unit 6 a.

According to embodiment 3 described above, the robot 1 is controlled according to the priority 7 d. Therefore, the robot 1 can be moved more efficiently.

The priority 7d may be changed in response to an external instruction.

Embodiment 4

Fig. 6 is a diagram showing an example of a registration information table of the mobility assistance system in embodiment 4. The same or corresponding portions as those in embodiment 1 are denoted by the same reference numerals. The description of this part is omitted.

As shown in fig. 6, the registration table information storage unit 6a stores information in which the boarding floor 7a, the alighting floor 7b, the type 7c, the application 7e, the availability of boarding 7f, and the boarding permission list 7g are associated with each other.

The information on whether or not the multiplication by 7f is possible is information on whether or not the multiplication by a person is possible. The ride-together permission list 7g is information of the use of the robot 1 that can ride together.

In line 5 of fig. 6, the robot 1 whose application 7e is "cleaning" can be multiplied by "person" and can be multiplied by the robot 1 whose application 7e is "cleaning" or "document distribution". In line 6 of fig. 6, it is shown that the robot 1 whose application 7e is "food distribution" can only ride the robot 1 whose application 7e is "food distribution" by riding the robot with "no" for sanitary reasons and the like.

The group management device 6 determines the assignment of the cars 2 based on the information stored in the registration table information storage unit 6 a.

According to embodiment 4 described above, the co-product determination of the robot 1 is performed according to the application 7e of the robot 1. Therefore, the robot 1 can be moved more appropriately.

Embodiment 5

Fig. 7 is a diagram showing an example of a registration information table of the mobility assistance system in embodiment 5. The same or corresponding portions as those in embodiment 1 are denoted by the same reference numerals. The description of this part is omitted.

As shown in fig. 7, the registration table information storage unit 6a stores information in which the boarding floor 7a, the alighting floor 7b, the type 7c, and the speed 7h are associated with each other.

The group management device 6 determines the assignment of the cars 2 based on the information stored in the registration table information storage unit 6 a.

According to embodiment 5 described above, the group management device 6 may assign the car 2 in consideration of the speed 7h of the robot 1 and the predicted arrival time at which the robot 1 arrives at the landing door. For example, when a plurality of robots 1 are already waiting at a landing, the cars 2 may be assigned so that the robots 1 having similar speeds ride together. In this case, the opening time of the door of the car 2 can be shortened. As a result, the elevator can be more efficiently operated.

In addition, the car 2 may be assigned in advance of the slower robot 1 already standing by in the hall, taking into account the moving speed of the robot 1 that has not reached the hall. When the robot 1 rides on a person, the car 2 may be assigned in consideration of the average moving speed of the person.

In embodiments 1 to 5, the assignment may be performed by a combination of information selected from the information associated with the registered information table.

Embodiment 6

Fig. 8 is a configuration diagram of a mobility assistance system according to embodiment 6. The same or corresponding portions as those in embodiment 1 are denoted by the same reference numerals. The description of this part is omitted.

In fig. 8, the authentication device 8 is provided in the human destination floor registration device 3.

The group management device 6 includes a user table information storage unit 6b and an authentication unit 6 c. The user table information storage unit 6b stores the ID9a, the authentication number 9b, and information on whether or not the user can multiply the product 9c in association with each other by an input from an input system not shown.

The user inputs an authentication number through the authentication device 8. The group management device 6 checks the authentication number from the authentication device 8 with the authentication number of the user table information storage unit 6b in the authentication unit 6c, and specifies the ID9a of the user. The group management device 6 determines whether or not the robot 1 can be multiplied by the ID9a, based on the possible multiplication result 9 c. The group management device 6 assigns the car 2 to the robot 1 and the person based on the determination result.

According to embodiment 6 described above, whether or not the user can ride the robot 1 is determined according to the user. Therefore, by registering the ride sharing as "no" to a person who feels uncomfortable to ride with the robot 1, the elevator can be shared with the robot 1 without riding with the robot 1. In contrast, by registering the pick-up as "ok" without making the pick-up uncomfortable to the person who has picked up the pick-up with the robot 1, the car 2 can be more efficiently assigned.

The authentication by the authentication device 8 may be authentication based on input of an ID and a word, authentication based on an IC card, ecological authentication of a face, or the like.

Further, the user may input destination information and information indicating whether or not the user can ride on the robot 1 by using the human destination floor registration device 3 without using the information stored in the user table information storage unit 6 b. In this case, the elevator can be operated appropriately according to the user.

In the car 2 assigned to the robot 1, the group management device 6 may stop lighting an indicator lamp that notifies the arrival of the car 2 or stop ringing a bell sound by the corresponding control device 5. In this case, it is possible to suppress a person from erroneously waiting in front of the car 2 assigned to the robot 1.

In the car 2 assigned to the robot 1, the group management device 6 may open the car door in response to recognition of the arrival of the robot 1 at the front of the landing door without opening the car door when the car 2 arrives by the corresponding control device 5. In this case, it is possible to suppress a person from entering the car 2 assigned to the robot 1 by mistake. It is sufficient to determine whether or not the robot 1 has come in front of the landing door with a normal configuration using a camera and a sensor connected to the control device 5, communication between the robot 1 and the control device 5, and the like.

Embodiment 7

Fig. 9 is a diagram showing an example of information projection in the mobility assistance system according to embodiment 7. The same or corresponding portions as those in embodiment 1 are denoted by the same reference numerals. The description of this part is omitted.

As shown in fig. 9, when the robot 1 arrives at the landing before the car 2, the robot 1 waits in front of the car 2. The robot 1 displays information on the landing door 10 or the floor around the landing by the mounted projection device. The display may be characters, fixed images, moving images, or the like. In this case, voice and music can also be played.

For example, the robot 1 displays projected information 11 indicating the car 2 reserved exclusively for the robot 1 on the landing door 10 or the floor.

The car 2 may be a display indicating that the car is reserved in a manner specific to the robot 1 without riding a user. The car 2 may display a content indicating that the robot 1 is reserved exclusively without waiting in front of the landing door 10. The display may be performed to indicate the countdown until the car 2 arrives. When the car 2 is shared by the robot 1 and the user, the display may be made such that the robot 1 also rides on the car. When the car 2 is shared by the robot 1 and the user, a display indicating the boarding floor of the robot 1 may be displayed. Animation or game display that does not make the user bored with the waiting time may be performed. For example, a display capable of guessing a punch or the like may be performed. The shopping information of the building can be displayed without making the waiting time of the user boring. Displays illustrating alternative moving means such as the position of other elevators, escalators, and stairs may also be displayed. A display indicating the entry of the car 2 may be performed. If information that a wheelchair or the like is mounted on the car 2 and the wheelchair or the like is scheduled to be taken off at the floor is separately obtained from the group management device 6, a display indicating that the wheelchair or the like is taken off, a character for giving a prompt to open the landing place, and an area to be opened may be displayed. Information such as emergency stairs can also be displayed.

According to embodiment 7 described above, it can be notified to the surroundings that the car 2 is reserved in a manner dedicated to the robot 1.

The control at this time may be based on an instruction from the group management apparatus 6.

Industrial applicability

As described above, the movement assistance system of the present invention can be used for a robot system.

Description of the reference symbols

1: a robot; 2: a car; 3: a destination floor registration device for a person; 4: a destination floor registration device for a robot; 5: a control device; 6: a group management device; 6 a: a registration table information storage unit; 6 b: a user table information storage unit; 6 c: an authentication unit; 7 a: taking a floor; 7 b: a landing floor; 7 c: a type; 7 d: a priority; 7 e: use; 7 f: whether the multiplication can be carried out; 7 g: a list of ride-sharing permissions; 7 h: speed; 8: an authentication device; 9 a: ID; 9 b: an authentication number; 9 c: whether the multiplication can be carried out; 10: a landing door; 11: projecting information; 100 a: a processor; 100 b: a memory; 200: hardware.