Elevator control device

Abstract

The present invention provides an elevator control device that can suppress long waiting times for both people and robots. [Solution] The elevator control device is an elevator control device that controls an elevator equipped with a cage capable of carrying people and robots, and comprises a storage unit that stores the rated weight of the cage, and a control unit that sets a maximum weight to be set during elevator operation as the maximum weight to be loaded into the cage, and when the control unit determines that the robot is waiting to board the cage when the maximum weight to be set is set to the rated weight, it sets a maximum weight limit as the maximum weight to be set, which is a weight less than or equal to the value obtained by subtracting the weight of the robot from the rated weight.

Description

[Technical Field]

[0001] The present disclosure relates to an elevator control device. [Background Art]

[0002] Conventionally, there has been known an elevator control device capable of achieving both transportation of users and transportation of robots (see, for example, Patent Document 1). In the configuration of Patent Document 1, when an instruction to select a change to the robot-exclusive operation mode is received from an elevator monitoring center while an elevator car is being moved to a user's destination floor in the user-exclusive operation mode, the movement of the car to the user's destination floor is continued. Then, new user calls are disabled, and after moving the car to the destination floor of the user in the car, the user-exclusive operation mode is switched to the robot-exclusive operation mode. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2009-51617 [Summary of the Invention]

[0004] An elevator control device according to one aspect of the present disclosure is an elevator control device that controls an elevator including a car on which both people and robots can ride, the elevator control device comprising: a storage unit that stores a rated weight of the car; and a control unit that sets a set maximum weight set during operation of the elevator as a maximum value of the weight loaded on the car, wherein when the set maximum weight is set to the rated weight and the control unit determines that the robot is waiting to board the car, the control unit sets, as the set maximum weight, a limited maximum weight that is equal to or less than a value obtained by subtracting the weight of the robot from the rated weight. [Brief Description of the Drawings]

[0005] [Figure 1] Schematic diagram of the elevator control system according to the first embodiment [Figure 2] A flowchart illustrating the operation of the elevator control system according to the first embodiment. [Figure 3] A flowchart illustrating the operation of the elevator control system according to the second embodiment. [Figure 4] Flowcharts illustrating the operation of the elevator control system according to the third and fourth embodiments. [Figure 5] A flowchart illustrating the operation of the elevator control system according to the third embodiment. [Figure 6] A flowchart illustrating the operation of the elevator control system according to the fourth embodiment. [Figure 7] Flowcharts illustrating the operation of the elevator control system according to the fifth and sixth embodiments. [Figure 8] A flowchart illustrating the operation of the elevator control system according to the fifth embodiment. [Figure 9] A flowchart illustrating the operation of the elevator control system according to the sixth embodiment. [Modes for carrying out the invention]

[0006] In the configuration described in Patent Document 1, the elevator is controlled in a mode where only the user or robot can use it. Therefore, if the user and the robot use the same elevator car, there is a risk that the waiting time before the user or robot can use the elevator will be long.

[0007] This disclosure aims to solve the above-mentioned problems and to provide an elevator control device that can suppress long waiting times for both people and robots.

[0008] [First Embodiment] A first embodiment of this disclosure will be described.

[0009] <Configuration of the elevator control system> First, the configuration of the elevator control system will be described. Figure 1 is a schematic diagram of an elevator control system according to the first embodiment of this disclosure.

[0010] The elevator control system 1 shown in Figure 1 comprises an elevator 2, a robot 3, and an elevator control device 4.

[0011] Elevator 2 transports user U (person) and robot 3 to the floors indicated by user U and robot 3. Elevator 2 is equipped with a car 22 that moves up and down inside the elevator tower 21. The car 22 moves to each floor by the drive of a lifting device (not shown). The car 22 is equipped with a car antenna 23, a car operation unit 24, a car lighting unit 25, a car notification unit 26, a passenger boarding / alighting detection unit 27, a load weight detection unit 28, and a car door (not shown).

[0012] The cage antenna 23 is connected to the elevator control device 4 via the network N1. The cage antenna 23 enables the transmission and reception of various signals via wireless communication between the elevator control device 4 and the robot 3 inside the cage 22.

[0013] The elevator car operation unit 24 is operated by the user U. The elevator car operation unit 24 includes, for example, an opening / closing operation unit for opening and closing the elevator car door, and an in-car destination indicator unit for indicating the destination.

[0014] The cage lighting unit 25 illuminates the inside of the cage 22.

[0015] The elevator car notification unit 26, based on the control of the elevator control device 4, notifies the user U inside the elevator car 22 of information regarding the operation of the elevator car 22. The elevator car notification unit 26 includes at least one of a display unit, a light-emitting unit, and a sound output unit. Examples of information notified by the elevator car notification unit 26 include a warning that the load weight of the elevator car 22 (the total weight of user U and robot 3) exceeds the set maximum weight, and the current position and movement status of the elevator car 22. The set maximum weight is the maximum weight that can be loaded into the elevator car 22, which is set during the operation of the elevator car 2. In other words, the value of the set maximum weight is changed during the operation of the elevator car 2 depending on the situation.

[0016] The boarding / alighting detection unit 27 detects boarding and alighting of a user U and the robot 3 into and out of the car 22. Examples of the boarding / alighting detection unit 27 include an infrared sensor, a surveillance camera, and a weight sensor.

[0017] The loaded weight detection unit 28 detects the loaded weight of the car 22. A well-known weight sensor can be exemplified as the loaded weight detection unit 28.

[0018] Signals related to the destination floor instructed by an operation of an in-car destination instruction unit (hereinafter may be referred to as "user destination floor"), boarding / alighting into and out of the car 22 detected by the boarding / alighting detection unit 27, and the loaded weight of the car 22 detected by the loaded weight detection unit 28 are transmitted to the elevator control device 4.

[0019] Each elevator hall 5 on each floor is provided with a hall antenna 51, a hall operation unit 52, a hall notification unit 53, and a hall door (not shown).

[0020] The hall antenna 51 is connected to the elevator control device 4 via a network N2. The hall antenna 51 enables transmission and reception of various signals by wireless communication between the elevator control device 4 and the robot 3 waiting in the elevator hall 5 where the hall antenna 51 is installed.

[0021] The hall operation unit 52 is operated by the user U. The hall operation unit 52 includes, for example, an opening / closing operation unit for opening and closing the hall door, and a car call instruction unit for calling the car 22.

[0022] The hall notification unit 53 notifies a user U in the elevator hall 5 of information related to the operation of the car 22 based on the control of the elevator control device 4. The hall notification unit 53 includes at least one of a display unit, a light emitting unit, and a sound output unit. Examples of information notified by the hall notification unit 53 include a warning that the loaded weight of the car 22 exceeds the set maximum weight, the current position of the car 22, and the moving status thereof.

[0023] The signal related to the floor on which the elevator call instruction unit was operated (hereinafter sometimes referred to as the "user call floor") is transmitted to the elevator control device 4.

[0024] Robot 3 is an autonomous robot. Examples of Robot 3 include a robot that transports people and luggage, a vacuum cleaner, a robot for various sensing functions, and a robot that communicates with people. Robot 3 is equipped with a robot antenna 31, a robot notification unit 32, and a robot control unit 33.

[0025] The robot antenna 31 is configured to allow the robot 3 to send and receive various signals wirelessly between itself and the cage antenna 23 inside the cage 22, and between itself and the hall antenna 51 in the elevator hall 5.

[0026] The robot notification unit 32 notifies users U who are around the robot 3 of information related to the robot 3. The robot notification unit 32 includes at least one of a display unit, a light-emitting unit, and a sound output unit. Examples of information notified by the robot notification unit 32 include the destination of the robot 3 and its movement status, such as turning left or right, moving forward or backward. The robot notification unit 32 may be installed in one location on the front, rear, side, or top of the robot 3, or in multiple locations.

[0027] The robot control unit 33 controls the robot 3. The robot control unit 33 controls the robot 3 so that it moves along a predetermined path or performs predetermined actions. The robot control unit 33 transmits a robot call floor signal to the elevator control device 4 to call the elevator car 22 to the floor where the robot 3 is waiting (hereinafter sometimes referred to as the "robot call floor"), and a robot destination floor signal to the floor where the robot 3 will disembark from the elevator car 22 (hereinafter sometimes referred to as the "robot destination floor"). The robot control unit 33 transmits a robot weight signal to the elevator control device 4 regarding the weight of the robot 3 (hereinafter sometimes referred to as the "robot weight"). In the case of a robot that transports people or luggage, the robot weight is preferably the sum of the weight of the robot 3 itself and the weight of the people or luggage being transported.

[0028] When the robot control unit 33 receives a boarding permission signal from the elevator control device 4 that allows the robot to board the elevator car 22, it controls the robot 3 to board the elevator car 22. When the robot control unit 33 receives a disembarking permission signal from the elevator control device 4 that allows the robot to disembark from the elevator car 22, it controls the robot 3 to disembark from the elevator car 22.

[0029] The elevator control device 4 comprises a storage unit 41, a signal detection unit 42, and a control unit 43.

[0030] The storage unit 41 is composed of memory or a hard disk, etc. The storage unit 41 stores various information necessary for controlling the elevator 2 and the robot 3. For example, the storage unit 41 stores the user's destination floor, the user's call floor, the maximum weight set for the elevator car 22, the rated weight of the elevator car 22, the robot's call floor and destination floor for the robot 3, and the robot's weight. The rated weight is the weight that is pre-set by the manufacturer of the elevator 2 as the maximum weight that can be loaded into the elevator car 22.

[0031] When the signal detection unit 42 detects signals from the elevator car operation unit 24 and the hall operation unit 52, it stores information regarding the user's destination floor and the user's call floor corresponding to each signal in the storage unit 41. When the signal detection unit 42 detects the robot call floor signal, the robot's destination floor signal, and the robot's weight signal from the robot 3, it stores information regarding the robot call floor, the robot's destination floor, and the robot's weight corresponding to each signal in the storage unit 41. In addition, when a standby detection unit (not shown) detects that the robot 3 is waiting in front of the hall door on a predetermined floor, the signal detection unit 42 may also store information regarding the floor where the robot 3 is waiting (robot call floor) in the storage unit 41.

[0032] The control unit 43 has a CPU (Central Processing Unit), and its functions are realized by the CPU executing a program. The control unit 43 includes a maximum weight setting unit 44 and an operation control unit 45.

[0033] The maximum weight setting unit 44 sets the maximum weight of the cage 22 to the rated weight or the maximum weight limit. When the maximum weight setting unit 44 sets the maximum weight to the rated weight, it sets the rated weight stored in the memory unit 41 as the maximum weight. When the maximum weight setting unit 44 sets the maximum weight to the maximum weight limit, it calculates the maximum weight limit by subtracting the robot weight from the rated weight. The maximum weight setting unit 44 sets the calculated maximum weight limit as the maximum weight. The maximum weight setting unit 44 stores the set maximum weight in the memory unit 41.

[0034] The operation control unit 45 moves the elevator car 22 to the user's destination floor, user call floor, robot call floor, or robot's destination floor, and when the elevator car 22 stops at one of these floors, it opens the elevator car door and the hall door. If the elevator car 22 stops at the robot call floor, the operation control unit 45 sends a boarding permission signal to the robot 3 waiting at the robot call floor, allowing the robot 3 to board. If the elevator car 22 stops at the robot's destination floor, the operation control unit 45 sends a disembarking permission signal to the robot 3 inside the elevator car 22, allowing the robot 3 to disembark. The operation control unit 45 obtains the detection result from the boarding / disembarking detection unit 27, and if it determines that the boarding / disembarking of user U and robot 3 has been completed, it closes the elevator car door and the hall door and moves the elevator car 22 to the user's destination floor, user call floor, robot call floor, or robot's destination floor. It is desirable that the operation control unit 45, in the robot call floor or robot destination floor, not close the car door and hall door even if the user U performs the operation to close the car door from the car operation unit 24, until it is determined that the robot 3 has finished boarding or alighting.

[0035] The operation control unit 45 acquires the detection result of the load weight detection unit 28 while the user U and robot 3 are getting on and off, and determines whether the load weight of the cage 22 exceeds the set maximum weight. If the operation control unit 45 determines that the load weight of the cage 22 exceeds the set maximum weight, it controls at least one of the cage notification unit 26 and the hall notification unit 53 to perform boarding and alighting control that issues a warning. By issuing such a warning, it is possible to prevent the user U from getting too far onto the cage 22. As described above, the set maximum weight may be set to the rated weight or to the limited maximum weight. In the following, boarding and alighting control when the set maximum weight is set to the rated weight will be referred to as "standard boarding and alighting control (first boarding and alighting control)", and boarding and alighting control when the set maximum weight is set to the limited maximum weight will be referred to as "limited boarding and alighting control (second boarding and alighting control)".

[0036] The operation control unit 45 may also have at least one of the car notification unit 26 and the hall notification unit 53 notify that restricted boarding / alighting control is being performed using characters, symbols, light, sound, etc. When notifying users U that restricted boarding / alighting control is being performed, the operation control unit 45 may notify them that restricted boarding / alighting control is being performed, or it may estimate the number of people that can board the car 22 and notify them of the estimated number. Examples of the number to be notified include the number of people who can newly board, or the number of people that can board including users U who are already on board. An example of a method for estimating the number of people who can newly board is to subtract the weight of users U who are already on board from the maximum weight limit and divide the result by the average weight of a person. An example of a method for estimating the number of people that can board including users U who are already on board is to divide the maximum weight limit by the average weight of a person. Furthermore, the operation control unit 45 may also have at least one of the car notification unit 26 and the hall notification unit 53 notify that standard boarding / alighting control is being performed.

[0037] The operation control unit 45 may cause the car lighting unit 25 to notify it that restricted boarding / alighting control is being performed. During restricted boarding / alighting control, the operation control unit 45 may illuminate the area on the floor of the car 22 corresponding to the footprint (floor area occupied) of the robot 3 and the other area (the area where user U can board) with at least one of two different intensities and colors of light. In this case, the robot 3 only needs to transmit a robot size signal regarding its own footprint to the elevator control device 4.

[0038] <Operation of the elevator control system> First, let's explain the operation of the elevator control system. Figure 2 is a flowchart showing the operation of the elevator control system 1 according to the first embodiment.

[0039] The operation control unit 45 determines whether the robot 3 is waiting at the robot call floor (a predetermined floor) while performing standard boarding / alighting control (step S1). If the signal detection unit 42 does not detect a robot call floor signal, the operation control unit 45 determines that the robot 3 is not waiting at the robot call floor (step S1: NO), and performs the process of step S1 again after a predetermined time has elapsed.

[0040] When robot 3 arrives at a predetermined floor, it transmits a robot call floor signal and a robot weight signal to the elevator control device 4. Robot 3 may transmit the robot destination floor signal at the same time as the robot call floor signal, or it may transmit it after boarding the elevator car 22. When the signal detection unit 42 detects the robot call floor signal, the operation control unit 45 determines that robot 3 is waiting at the robot call floor (Step S1: YES). In this case, the set maximum weight setting unit 44 changes the set maximum weight from the rated weight to the set limit weight (Step S2). When the set maximum weight is changed from the rated weight to the set limit weight, the operation control unit 45 terminates standard boarding / alighting control and starts limited boarding / alighting control (Step S3).

[0041] <Effects of the First Embodiment> When the elevator control device 4 is performing standard boarding / alighting control, if it determines that robot 3 is waiting at the robot call floor, it terminates the standard boarding / alighting control and starts restricted boarding / alighting control. With this configuration, even while restricted boarding / alighting control is in effect, users U can use the elevator 2 as long as the load capacity of the car 22 does not exceed the maximum load capacity. Furthermore, because restricted boarding / alighting control is performed until the car 22 stops at the robot call floor, the number of users U exceeding the maximum load capacity is restricted from boarding the car 22. As a result, assuming that robot 3 boards the car 22 when it stops at the robot call floor, the estimated load capacity of the car 22 (the sum of the weight of users U and robot 3 in the car 22) can be kept below the rated weight. Therefore, after the restricted boarding / alighting control ends and standard boarding / alighting control begins, robot 3 can board the car 22 when it stops at the robot call floor. Consequently, the waiting time for users U and robot 3 can be kept from becoming too long.

[0042] Furthermore, the timing at which standard boarding / alighting control begins after the end of restricted boarding / alighting control is as long as it is before robot 3 boards the elevator car 22. For example, the elevator control device 4 may estimate the time required for elevator car 22 to reach the robot call floor based on the number of user call floors and user destination floors at the time it determines that robot 3 is waiting at the robot call floor, and after the estimated time has elapsed, change from restricted boarding / alighting control to standard boarding / alighting control.

[0043] [Second Embodiment] <Operation of the elevator control system> Next, a second embodiment will be described. The elevator control systems of the second embodiment and the third to sixth embodiments described later differ from the elevator control systems of the other embodiments in the operation of the elevator control device 4. Figure 3 is a flowchart showing the operation of the elevator control system according to the second embodiment. Note that the same operations as in the first embodiment will be explained briefly or omitted.

[0044] As shown in Figure 3, the elevator control device 4 of the second embodiment performs the processes of steps S11 to S14, which will be described in detail below, in addition to the processes of steps S1 to S3 already described. The elevator control device 4 performs the processes of steps S1 to S3. After restricted boarding and alighting control is started, the operation control unit 45 determines whether the next floor that the elevator car 22 will reach is a robot call floor (step S11). If the operation control unit 45 determines that the next floor that the elevator car 22 will reach is not a robot call floor (step S11: NO), it performs the process of step S11 again. For example, the operation control unit 45 performs the process of step S11 each time the elevator stops at a floor and each time it passes through a floor.

[0045] If the operation control unit 45 determines that the next floor the elevator car 22 will reach is a robot call floor (step S11: YES), the set maximum weight setting unit 44 changes the set maximum weight from the limited maximum weight to the rated weight while waiting for the robot 3 to board the elevator car 22 at the robot call floor (step S12). Once the set maximum weight is changed from the limited maximum weight to the rated weight, the operation control unit 45 terminates the limited boarding / alighting control and starts standard boarding / alighting control (step S13).

[0046] When the elevator car 22 stops at the robot call floor, the operation control unit 45 opens the elevator car door and the hall door and sends a boarding permission signal to the robot 3. Since the estimated load weight at the time the elevator car 22 stops at the robot call floor is less than or equal to the rated weight and standard boarding / alighting control is being performed, the robot 3 can board the elevator car 22. The operation control unit 45 confirms that the robot 3 has boarded (step S14), closes the elevator car door and the hall door, and moves the elevator car 22 to the user's destination floor, the user call floor, and the robot's destination floor. Here, confirmation of the robot 3's boarding may be performed by the boarding / alighting detection unit 27, or by receiving a boarding completion signal from the robot 3.

[0047] Furthermore, robot 3 may transmit the robot destination floor signal to elevator control device 4 at the same time as the robot call floor signal, or it may do so after boarding the elevator car 22. Also, the processing in steps S12 and S13 may be performed before robot 3 boards the elevator car 22, or after the elevator car 22 stops at the robot call floor.

[0048] <Effects of the second embodiment> When the elevator control device 4 determines that the next floor the elevator car 22 will reach is the robot call floor, it terminates the restricted boarding / alighting control and starts the standard boarding / alighting control. In this way, regardless of the boarding and alighting of users U up to the robot call floor, the standard boarding / alighting control is not started until the elevator car 22 determines that the next floor it will reach is the robot call floor, thereby ensuring that the robot 3 is able to board the elevator car 22.

[0049] [Third Embodiment] <Operation of the elevator control system> Next, a third embodiment will be described. Figures 4 and 5 are flowcharts illustrating the operation of the elevator control system according to the third embodiment. Note that the same operations as those in the first and second embodiments will be briefly or omitted.

[0050] As shown in Figures 4 and 5, the elevator control device 4 of the third embodiment performs the processes of steps S21 to S25, which will be described in detail below, in addition to the processes of steps S1 to S3 already described. The operation control unit 45 of the elevator control device 4 performs the process of step S1 and, if it determines that the robot 3 is waiting on a predetermined floor (step S1: YES), it determines whether or not the robot 3 can be allowed to board the elevator car 22 (step S21 (first determination process)). The operation control unit 45 determines that the robot 3 can be allowed to board the elevator car 22 if the estimated load capacity of the elevator car 22, assuming that the robot 3 boarded the elevator car 22 at the time it was determined that the robot 3 was waiting on the robot call floor, is less than or equal to the rated weight.

[0051] If it is determined that robot 3 can be boarded (step S21: YES), the elevator control device 4 performs the processing from step S2 onwards, terminates the standard boarding / alighting control, and starts the restricted boarding / alighting control. If it is determined that robot 3 cannot be boarded (step S21: NO), as shown in Figure 5, the operation control unit 45 determines whether the next floor that the elevator car 22 will reach is the robot call floor (step S22).

[0052] If the operation control unit 45 determines that the next floor the elevator car 22 will reach is a robot call floor (step S22: YES), it allows the elevator car 22 to pass through the robot call floor (step S23). In this case, standard boarding and alighting control continues. If the operation control unit 45 determines that the next floor the elevator car 22 will reach is not a robot call floor (step S22: NO), it determines whether or not to stop the elevator car 22 at the next floor (step S24). If the operation control unit 45 determines that the elevator car 22 will not stop at the next floor, that is, that the next floor is neither a user call floor nor a user destination floor (step S24: NO), it performs the process in step S22.

[0053] The operation control unit 45 stops the elevator car 22 at the next floor to be reached, that is, if it determines that the next floor to be reached is at least one of the user call floor and the user destination floor (step S24: YES), it stops the elevator car 22 at that next floor. After confirming that user U has boarded or alighted, the operation control unit 45 determines whether or not the robot 3 can be boarded in the elevator car 22 after user U has boarded or alighted (step S25 (second determination process)). Here, confirmation of user U's boarding or alighting may be performed by the boarding / alighting detection unit 27, or, for a simpler process, it may be performed when the boarding or alighting of user U is substantially completed by closing the elevator car door and hall door. The second determination process may also be performed by detecting the detection information of the load weight detection unit 28 in real time and recognizing that the load weight of the elevator car 22 has fallen below the maximum limit weight while user U is boarding or alighting. It is desirable that such processing be performed based on the selection of a mode that prioritizes the boarding of robot 3 over the boarding of user U. If it is determined that robot 3 can be boarded (step S25: YES), as shown in Figure 4, the elevator control device 4 performs the processing from step S2 onwards, terminates standard boarding / alighting control, and starts restricted boarding / alighting control. Note that after processing in step S3, the elevator control device 4 may also perform the processing in steps S11 to S14 of the second embodiment. If it is determined that robot 3 cannot be boarded (step S25: NO), the operation control unit 45 performs the processing in step S22.

[0054] <Effects of the Third Embodiment> When the elevator control device 4 determines that robot 3 is waiting at the robot call floor, it determines whether or not it can board the elevator car 22, which is currently occupied at that time. If it determines that it can board, it terminates standard boarding / alighting control and starts restricted boarding / alighting control. Therefore, robot 3 can be reliably boarded into the elevator car 22 regardless of whether passenger U boards or alights before the elevator car 22 reaches the robot call floor.

[0055] Even if the elevator control device 4 initially determines that it is not possible to board the robot 3, if it determines that it is now possible to board the robot 3 after the passenger U boards or alights, it terminates standard boarding / alighting control and starts restricted boarding / alighting control. Therefore, when it becomes possible to board the robot 3 after the passenger U boards or alights, the robot 3 can be reliably placed into the elevator car 22.

[0056] If the elevator control device 4 determines that the next floor the elevator car 22 will reach is the robot call floor, while the state in which the robot 3 cannot board the elevator remains unchanged, it will allow the elevator car 22 to pass the robot call floor. This allows the passenger U currently in the elevator car 22 to be transported to their destination floor more quickly.

[0057] [Fourth Embodiment] <Operation of the elevator control system> Next, a fourth embodiment will be described. Figures 4 and 6 are flowcharts showing the operation of the elevator control system according to the fourth embodiment. Note that the same operations as in the first to third embodiments will be briefly or omitted.

[0058] As shown in Figures 4 and 6, the elevator control device 4 of the fourth embodiment performs the processes of steps S31 to S3 and S21 to S25, which have already been described, in addition to the processes of steps S31 to S32, which will be described in detail below. The elevator control device 4 performs the processes of steps S1 to S3, S21, S22, S24, and S25 shown in Figures 4 and 6.

[0059] As shown in Figure 6, if the operation control unit 45 determines that the next floor the elevator car 22 will reach is a robot call floor (step S22: YES), it determines whether or not a user U is waiting at the robot call floor (step S31). Specifically, the operation control unit 45 determines whether or not the robot call floor is the same as the user call floor. Alternatively, the operation control unit 45 may determine whether or not a user U is waiting at the robot call floor based on the detection result of a sensor (not shown) that detects user U on the robot call floor. If the operation control unit 45 determines that user U is not waiting at the robot call floor (step S31: NO), it allows the elevator car 22 to pass through the robot call floor (step S23). In this case, standard boarding and alighting control continues.

[0060] If the operation control unit 45 determines that user U is waiting on the robot call floor (step S31: YES), it stops the elevator car 22 on the robot call floor (step S32). Here, for example, when the elevator car 22 stops on the robot call floor, the operation control unit 45 opens the elevator car door and the hall door and notifies at least one of the elevator car notification unit 26 and the hall notification unit 53 that boarding by robot 3 is not permitted, or that user U may board, or both. Alternatively, the robot notification unit 32 may be notified that boarding by robot 3 is not permitted, or that user U may board, or both. Once the operation control unit 45 confirms that user U has finished boarding or alighting, it closes the elevator car door and the hall door and moves the elevator car 22 to the user's destination floor and the user call floor. In this case, standard boarding and alighting control continues.

[0061] <Effects of the fourth embodiment> If the elevator control device 4 determines that user U is waiting at the robot call floor while the state of being unable to allow robot 3 to board the elevator car 22 remains, it will stop the elevator car 22 at the robot call floor. This allows user U waiting at the robot call floor to board the elevator car 22, thus reducing the waiting time for user U. In particular, by not allowing robot 3 to board, user U waiting at the robot call floor can be given priority.

[0062] [Fifth Embodiment] <Operation of the elevator control system> Next, a fifth embodiment will be described. Figures 7 and 8 are flowcharts showing the operation of the elevator control system according to the fifth embodiment. Note that the same operations as in the first to fourth embodiments will be briefly or omitted.

[0063] As shown in Figures 7 and 8, the elevator control device 4 of the fifth embodiment performs the processes of steps S1 to S3, S11 to S14, S21 to S25, and S31 to S32, which have already been described, as well as the processes of steps S41 to S42, which will be described in detail below. The elevator control device 4 performs the processes of steps S1 to S3, S11 to S14, S21 to S25, and S31 to S32 shown in Figures 7 and 8.

[0064] After performing the processing in step S32, the operation control unit 45 confirms the boarding and alighting of user U and determines whether the robot 3 can be boarded into the cage 22 due to the boarding and alighting of user U at the robot call floor (step S41 (third determination process)). Here, the confirmation of user U's boarding and alighting may be performed by the boarding and alighting detection unit 27, or it may be performed when user U has closed the cage door from the cage operation unit 24, effectively completing the boarding and alighting of user U. Furthermore, the third determination process may be performed by detecting the detection information of the load weight detection unit 28 in real time and recognizing that the load weight of the cage 22 has fallen below the maximum limit weight while user U is boarding or alighting. It is desirable that such processing be performed based on the selection of a mode that prioritizes the boarding of robot 3 over the boarding of user U. However, if the robot call floor is the same as the user call floor, it is desirable that a mode that prioritizes the boarding of user U over the boarding of robot 3 is selected. The operation control unit 45 determines that it is possible to allow the robot 3 to board the elevator car 22 if the estimated load weight of the elevator car 22 (= total weight of passengers inside the elevator car 22 + weight of the robot 3), assuming that the robot 3 has boarded the elevator car 22 after the passenger U has finished getting on and off, is less than or equal to the rated weight.

[0065] If the operation control unit 45 determines that it is possible to board the robot 3 (step S41: YES), it sends a boarding permission signal to the robot 3 to allow the robot 3 to board (step S42). Subsequently, the elevator control device 4 performs the processing from step S14 onwards as shown in Figure 7, allowing the robot 3 to board and continuing standard boarding and alighting control. If the operation control unit 45 determines that it is not possible to board the robot 3 (step S41: NO), it closes the car door and hall door without allowing the robot 3 to board, and moves the car 22 to the user's destination floor and user call floor. In this case, standard boarding and alighting control is continued.

[0066] <Effects of the Fifth Embodiment> The elevator control device 4 initially prohibits the robot 3 from boarding at the robot call floor, and then, if it determines that the robot 3 can board the elevator car 22 after user U has boarded or alighted at the robot call floor, it permits the robot 3 to board. This helps to reduce the waiting time for the robot 3.

[0067] [Sixth Embodiment] <Operation of the elevator control system> Next, a sixth embodiment will be described. Figures 7 and 9 are flowcharts illustrating the operation of the elevator control system according to the sixth embodiment. Note that the same operations as those described in the first to fifth embodiments will be briefly or omitted.

[0068] As shown in Figures 7 and 9, the elevator control system of the sixth embodiment performs the process of step S51, which will be described in detail below, in addition to the processes of steps S1 to S3, S11 to S14, S21 to S25, S31 to S32, and S41 to S42 that have already been described.

[0069] The elevator control device 4 performs the processes shown in steps S1-S3, S11-S14, S21-S25, S31-S32, and S41-S42 in Figures 7 and 9. The operation control unit 45 determines that the robot 3 is not ready to board the elevator car 22 (step S41: NO), and after starting the movement of the elevator car 22 to the user's destination floor and the user's call floor, it determines whether the elevator car 22 has reached the turning point floor (step S51). The turning point floor is the floor where the elevator car 22 changes its direction of ascent and descent. If the operation control unit 45 determines that the elevator car 22 has reached the turning point floor (step S51: YES), the elevator control device 4 performs the processes shown in step S2 and later in Figure 7, ending the standard boarding / descent control and starting the restricted boarding / descent control. It is desirable that the switch to restricted boarding / descent control in step S2, which is performed after step S51, be performed before opening the elevator car door and the hall door. In particular, when the elevator car 22's direction of movement changes from lower to upper floors, it is desirable that the switch to restricted boarding / alighting control be performed before opening the elevator car door and hall door. This prevents users from boarding the elevator car 22 until it reaches a weight that the robot 3 can no longer load. However, for example, when the elevator car 22's direction of movement changes from upper to lower floors, the switch to restricted boarding / alighting control may be performed after the users have boarded and alighted and after closing the elevator car door and hall door. This is because the number of users at the turnaround floor is likely to differ between the upper and lower floors. If the operation control unit 45 determines that the elevator car 22 has not reached the turnaround floor (step S51: NO), it performs the process of step S51, for example, when the elevator car 22 stops at the next user destination floor or user call floor.

[0070] <Effects of the sixth embodiment> The elevator control device 4, without allowing the robot 3 to board the elevator car 22 at the robot call floor, resumes the movement of the elevator car 22 to the user's destination floor and the user call floor. Once the elevator car 22 reaches the turnaround floor, it changes the set maximum weight from the rated weight to the set limit weight and starts restricted boarding / alighting control. This ensures that the robot 3 can be reliably boarded into the turned-around elevator car 22.

[0071] [Modified examples of the embodiment] This disclosure is not limited to the embodiments described herein, and various modifications can be made without departing from its spirit. Furthermore, the above embodiments and the following modifications may be combined in any way, as long as they function properly.

[0072] For example, in the first to sixth embodiments, the robot 3 is shown to transmit a robot call floor signal, a robot destination floor signal, and a robot weight signal to the elevator control device 4 (instructing the elevator control device 4 on the robot call floor, robot destination floor, and robot weight). However, this may also be done by a robot management system that manages the robot 3.

[0073] In the first to sixth embodiments, a configuration was shown in which the robot 3 transmits a robot weight signal. However, a database showing the relationship between the identifier of the robot 3 and the robot weight may be stored in the storage unit 41 of the elevator control device 4 or on a server accessible by the maximum weight setting unit 44. In addition, the robot 3 or the robot management device may be provided with a function to transmit a signal representing the identifier of the robot 3, so that the maximum weight setting unit 44 can determine the robot weight based on the identifier based on the received signal and the database.

[0074] In the first to sixth embodiments, the maximum weight setting unit 44 is shown as an example in which it calculates the maximum weight limit based on the robot weight of the robot 3 that transmitted the robot call floor signal. However, regardless of the robot weight of the robot 3 that transmitted the robot call floor signal, the maximum weight limit may be calculated by subtracting the robot weight of the heaviest robot 3 among the robots 3 that may use the elevator control system 1 from the rated weight. In other words, the maximum weight setting unit 44 may calculate the maximum weight limit as a value less than or equal to the value obtained by subtracting the robot weight of the robot 3 that transmitted the robot call floor signal from the rated weight.

[0075] In the third to sixth embodiments, if, during the restricted boarding / alighting control initiated in step S3, a warning is issued indicating that the load weight of the elevator car 22 exceeds the set maximum weight (restricted maximum weight), but the period during which the load weight exceeds the set maximum weight becomes longer than a predetermined period, the elevator control device 4 may terminate the restricted boarding / alighting control and start standard boarding / alighting control, and proceed with the process in step S11. With this configuration, many users U can be transported preferentially.

[0076] According to the elevator control device of this disclosure, it is possible to suppress long waiting times for people and robots. [Industrial applicability]

[0077] This disclosure is applicable to elevator control devices. [Explanation of Symbols]

[0078] 1. Elevator control system 2 Elevators 3 Robots 4. Elevator control device 5 Elevator Hall 21 Elevator Tower 22 Basket 23 Cage Antenna 24 Basket operation section 25 Cage Lighting Section 26 Kago News Department 27 Boarding / Alighting Detection Unit 28 Load weight detection unit 31 Robot Antenna 32 Robot News Department 33 Robot Control Unit 41 Storage section 42 Signal detection unit 43 Control Unit 44 Setting maximum weight setting section 45 Operation Control Unit 51 Hall Antenna 52 Hole control section 53 Hall Hochi Department N1, N2 Network U users

Claims

1. A method for moving a robot to a specific floor using an elevator equipped with a cage capable of carrying both people and robots, and controlled by an elevator control device, The aforementioned robot The steps include transmitting a robot weight signal, which is a signal indicating the total weight of the robot, including the weight of the robot and the weight of the person or package being transported by the robot, The steps include waiting until a boarding permission signal is received, which is transmitted when it is determined that the robot can be placed in the basket based on the robot weight signal, Execute A method for moving a robot to a specific floor.

2. When the robot is waiting to board the elevator car, it receives the boarding permission signal when the elevator control device sets a maximum weight limit, which is less than or equal to the value obtained by subtracting the robot's weight from the rated weight, as the maximum weight that can be loaded into the elevator car during operation. A method for moving the robot described in claim 1 to a specific floor.

3. If the next floor the elevator car stops at is the floor where the robot is waiting, the elevator control device will receive the boarding permission signal before the robot boards the elevator car, provided that the rated weight is set to the maximum weight. A method for moving the robot described in claim 2 to a specific floor.

4. The robot receives the boarding permission signal when, in a first determination process that determines whether the robot can board the elevator car at the time the elevator control device determines that the robot is waiting to board the car, the robot is determined to be able to board, and the maximum weight limit is set to the maximum weight limit. A method for moving the robot described in claim 3 to a specific floor.

5. A method for moving a robot to a specific floor according to claim 4, wherein the robot receives the boarding permission signal when, after the elevator control device has determined in the first determination process that the robot cannot board, the robot is able to board the elevator car at a floor where it stops before reaching the floor where the robot is waiting, and the maximum weight limit is set to the maximum weight limit.

6. If, during the elevator control device, the second determination process does not determine that the robot can board the elevator before the elevator car reaches the floor where the robot is waiting, and the elevator is controlled to pass the floor where the robot is waiting, then the boarding permission signal is not transmitted to the robot. A method for moving the robot described in claim 5 to a specific floor.

7. The robot receives the boarding permission signal if, even if the second determination process does not determine that the robot can board while the elevator car is waiting for the robot, the elevator is controlled to stop at the floor where the robot is waiting if there is a person waiting at that floor. A method for moving the robot described in claim 6 to a specific floor.

8. The robot receives the boarding permission signal when, in a third determination process performed by the elevator control device to determine whether the robot can board the elevator car on the floor where the robot is waiting, it is determined that the robot can board and the robot is permitted to board the elevator car. A method for moving the robot described in claim 7 to a specific floor.

9. The robot receives the boarding permission signal when, after the elevator car has passed the floor where the robot is waiting without the robot boarding it, the elevator car's direction of movement is changed and the maximum weight limit is set to the maximum weight limit, as controlled by the elevator control device. A method for moving the robot described in claim 6 to a specific floor.

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