Guidance system and guidance method

Abstract

The robot significantly improves the efficiency of elevator transportation. [Solution] In the guidance system, a first control unit, which regards a car stopped at a specified floor as a target car, estimates the occupancy rate of the target car based on an image taken by a camera installed in the target car or an actual measurement value obtained by measuring the total load inside the target car, and then determines (A) whether the occupancy rate has reached a target value, and if it determines in said determination (A) that it has not reached that value, outputs a boarding possible signal notifying that it is possible to board the target car. Furthermore, when a second control unit receives the boarding possible signal, it commands a robot to take an image of the platform at the specified floor, and based on the image taken, determines (B) whether a user waiting to board the target car is present at the platform, and if it determines in said determination (B) that the user is present at the platform, it commands the robot to output guidance information to encourage the user at that platform to board the target car.

Description

[Technical Field]

[0001] The present invention relates to a technology for providing information to elevator users using a robot. [Background technology]

[0002] Patent Document 1 discloses a technology that calculates the appropriate number of passengers for an empty car (a car with no passengers in it, including cases where the car becomes empty at a specific floor) on the assumption that passengers will board the car at a specific floor such as the lobby floor, and provides information on the number of passengers to passengers at the boarding area using a robot before the car arrives. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6611685 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technology of Patent Document 1, even if passenger numbers are provided, whether or not to actually board an arriving car is left solely to the passenger's own judgment. For this reason, passengers at the platform may hesitate to board depending on the situation inside the car when they board, and may ultimately decide not to board and wait for the next car. In this case, the car may depart from a specific floor with fewer passengers than the appropriate number. Furthermore, even if passenger numbers are provided and that number of passengers are waiting to board the car, if the car is not empty when it arrives, or if it does not become empty at all, all of the passengers who intended to board will not be able to board. If all passengers try to board despite this, the departure of the car from a specific floor will be delayed. These issues are particularly likely to occur during crowded times and can significantly hinder improvements in transportation efficiency. Therefore, simply providing passenger numbers to passengers at the platform before the car arrives, as with the technology of Patent Document 1, has limitations on improving transportation efficiency.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to significantly improve the transportation efficiency of elevators using robots. [Means for solving the problem]

[0006] A first guidance system according to the present invention is applicable to an elevator equipped with a robot at a predetermined floor and includes the following configuration (Aspect 1). The first guidance system includes a first control unit and a second control unit. The first control unit estimates the occupancy rate of a target car based on an image captured by a camera installed inside the target car or an actual measurement value obtained by measuring the total load inside the target car, and then determines (A) whether the occupancy rate has reached a target value. If the determination (A) determines that the occupancy rate has not reached a target value, the first control unit outputs a boarding permission signal indicating that boarding into the target car is possible. If the second control unit receives the boarding permission signal, the second control unit instructs the robot to photograph the hall at the predetermined floor, and determines (B) whether a passenger waiting to board the target car is present at the hall based on the photographed image. If the second control unit determines that the passenger is present at the hall in the determination (B), the second control unit instructs the robot to output guidance information to encourage the passenger at the hall to board the target car.

[0007] In the above-described first aspect, the first control unit can make the determination (A) using the output (image or actual measurement value) of a camera or load sensor typically mounted on an elevator car. If the determination (A) determines that the passenger is not yet seated, the second control unit can notify the second control unit that the passenger is allowed to board the target car by outputting a boarding permission signal. Furthermore, the second control unit can have the robot photograph the hall simply by deploying the robot at a designated floor. Furthermore, the second control unit can make the determination (B) based on the image obtained by the photograph. Then, if the determination (B) determines that the passenger is seated at the hall, the robot can be instructed to output the guidance information. This allows the robot to provide guidance encouraging passengers at the hall to board (e.g., notifying the passengers of the number of people who can board the target car) until the passenger occupancy rate reaches the target value. This allows the elevator to operate at the desired passenger occupancy rate (target value), thereby improving transportation efficiency.

[0008] In the guidance system according to the above aspect 1, when the second control unit determines in the judgment (B) that the passenger is at the landing, the second control unit may further instruct the first control unit to extend the door opening time of the target car (aspect 2).

[0009] According to the above-mentioned aspect 2, it is possible to secure the time required for guidance (guidance by a robot) to encourage passengers at the boarding area to board the car, and the time required for passengers to board the car after being prompted by the guidance.

[0010] In the guidance system according to the above aspect 1 or 2, when the second control unit determines in the judgment (B) that the passenger is not at the landing, the second control unit may instruct the first control unit to close the door of the target car (aspect 3).

[0011] According to the above-mentioned aspect 3, even if the occupancy rate of the target car has not reached the target value, when boarding at the target floor is completed, it is possible to close the doors and allow the target car to depart without waiting for the preset door opening time to elapse.

[0012] The guidance system according to any one of the above aspects 1 to 3 may have the following configuration (aspect 4). When the first control unit determines in decision (A) that the floor has been reached, it may output a boarding restriction signal notifying passengers that boarding into the target car should be restricted. When the second control unit receives the boarding restriction signal, it may instruct the robot to take an image of the platform at a predetermined floor, and, based on the image obtained by the image capture, make decision (C) as to whether or not passengers waiting to board the target car remain at the platform. When the second control unit determines in decision (C) that "passengers remain at the platform," it may instruct the robot to output guidance information for restricting passengers from boarding the target car.

[0013] In the above-mentioned aspect 4, when the first control unit determines that "the limit has been reached" in the judgment (A), it outputs a boarding restriction signal, thereby notifying the second control unit that boarding into the target car should be restricted. Moreover, the second control unit makes it possible to make the judgment (C) based on an image obtained by the robot photographing the hall. Then, when the judgment (C) determines that "passengers remain at the hall," it is possible to instruct the robot to output the above-mentioned guidance information, thereby making it possible to have the robot execute guidance restricting boarding into the target car (for example, a notice that no more passengers than this number can board the target car). This makes it possible to reduce the occurrence of incidents such as passengers trying to board a car forcibly, causing departure delays, and as a result, it is possible to further improve transportation efficiency.

[0014] A second guidance system according to the present invention is a guidance system applicable to elevators in which robots are installed on specific floors, and has the following configuration (Aspect 5). The second guidance system includes a first control unit and a second control unit. As with the first guidance system, the first control unit estimates the occupancy rate based on an image or an actual measurement value and then makes a decision (A). If the first control unit determines in decision (A) that the occupancy rate has been reached, it outputs a boarding restriction signal indicating that boarding into the target car should be restricted. If the second control unit receives the boarding restriction signal, it instructs the robot to photograph the hall at the specific floor, and, based on the image obtained by the photograph, makes a decision (C) as to whether or not there are any passengers remaining at the hall waiting to board the target car. If the second control unit determines in decision (C) that there are any passengers remaining at the hall, it instructs the robot to output guidance information to restrict boarding into the target car.

[0015] In the above-mentioned aspect 5, the first control unit can make decision (A) using the output (images and actual measurements) of a camera or sensor typically mounted on a car. If decision (A) determines that the limit has been reached, the second control unit can output a boarding restriction signal to notify the second control unit that boarding into the target car should be restricted. Furthermore, the second control unit can have the robot photograph the platform simply by deploying the robot at a designated floor, and can then make decision (C) based on the image obtained by the photograph. If decision (C) determines that passengers remain at the platform, the robot can be instructed to output the guidance information, thereby providing guidance restricting boarding into the target car (e.g., a notice that no more passengers than this number can board the target car). This makes it possible to prevent passengers from forcing their way in and causing departure delays, thereby improving transportation efficiency.

[0016] In the guidance system according to the above-mentioned aspect 4 or 5, if the second control unit determines in the judgment (C) that the passenger is "still at the platform," it may further instruct the robot to block the entrance to the target car (aspect 6).

[0017] According to the above-mentioned aspect 6, it is possible to forcibly prohibit boarding a vehicle while ignoring the guidance from the robot.

[0018] The guidance system according to any one of the above aspects 1 to 6 may have the following configuration (aspect 7): When the target car is scheduled to stop at another predetermined floor in response to a hall call after the predetermined floor at which it is stopped, the first control unit may use, as the target value, a second target value that is lower than the first target value, which is a default value, in determination (A) made while the target car is stopped at the first predetermined floor, and may use the first target value as the target value in determination (A) made while the target car is stopped at the second predetermined floor.

[0019] According to the above aspect 7, even in a situation where the number of passengers boarding from the first specified floor is so large that the occupancy rate of the target car always reaches the target value (default value), by using the second target value as the target value for the occupancy rate at that specified floor, it is possible to leave space at the second specified floor so that passengers can board the target car.

[0020] The guidance system according to the seventh aspect may have the following configuration (a eighth aspect). When the first control unit uses the second target value as the target value in the determination (A) made while the target car is stopped at the first predetermined floor, the first control unit may output an information request signal requesting the provision of information on the number of passengers waiting to board at the second predetermined floor before that. When the second control unit receives the information request signal, the second control unit may instruct a robot deployed at the predetermined floor to take an image of the platform at that predetermined floor indicated by the information request signal, determine the number of passengers waiting to board at that predetermined floor based on the image obtained by the image capture, and then return that number to the first control unit. Then, when the first control unit receives the number of passengers returned from the second control unit, the first control unit may determine the second target value according to that number.

[0021] According to the above-mentioned aspect 8, it is possible to determine the second target value so as not to create unnecessary empty space in the target car (in other words, so that the empty space left at the first specified floor to allow boarding at the second specified floor does not become excessive compared to the actual number of passengers).

[0022] A first guidance method according to the present invention is applicable to an elevator in which a robot is installed at a predetermined floor, and has the following configuration (Aspect 9). In the first robot management method, a first control unit, assuming a car stopped at a predetermined floor as a target car, estimates the occupancy rate of the target car based on an image captured by a camera installed in the target car or an actual value obtained by measuring the total load inside the target car, and then determines (A) whether the occupancy rate has reached a target value. If the determination (A) determines that the occupancy rate has not reached a target value, the first control unit outputs a boarding possible signal indicating that boarding into the target car is possible. Furthermore, a second control unit, upon receiving the boarding possible signal, instructs the robot to photograph the hall at the predetermined floor, and, based on the image captured by the photograph, determines (B) whether a passenger waiting to board the target car is present at the hall, and if the determination (B) determines that the passenger is present at the hall, the second control unit instructs the robot to output guidance information to encourage the passenger at the hall to board the target car.

[0023] A second guidance method according to the present invention is a guidance method applicable to an elevator in which a robot is deployed on a predetermined floor, and has the following configuration (Aspect 10). In the second robot management method, the first control unit, like the first robot management method, estimates the occupancy rate based on an image or an actual measurement value and then makes a decision (A). If the first control unit determines in decision (A) that the occupancy rate has been reached, it outputs a boarding restriction signal notifying that boarding into the target car should be restricted. Furthermore, when the second control unit receives the boarding restriction signal, it instructs the robot to photograph the hall at the predetermined floor, and based on the image obtained by the photograph, makes a decision (C) as to whether or not any passengers waiting to board the target car remain at the hall, and if it determines in decision (C) that "any passengers remain at the hall," it instructs the robot to output guidance information to restrict boarding into the target car. [Effects of the Invention]

[0024] According to the present invention, it is possible to significantly improve the transport efficiency of elevators. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. [Figure 2] 1A and 1B are conceptual diagrams illustrating examples of (A) device management data for the first operation unit, (B) device management data for the second operation unit, (C) hall call management data, (D) car call management data, (E) robot management data, and (F) occupancy rate management data used in the embodiment. [Figure 3] 10 is a flowchart illustrating an allocation process executed in the embodiment. [Figure 4] 10 is a flowchart illustrating a status notification process executed in the embodiment. [Figure 5] 10 is a flowchart showing a guidance control process executed in the embodiment. [Figure 6] FIG. 10 is a conceptual diagram illustrating a scene in which a robot takes a photograph in response to a command in the embodiment. [Figure 7] 10A and 10B are conceptual diagrams illustrating a scene in which the robot outputs guidance information in response to a command in the embodiment. [Figure 8] 10 is a flowchart showing a guidance control process executed in a first modified example. [Figure 9] 10 is a flowchart showing a status notification process executed in a first modified example. [Figure 10] 10 is a flowchart showing a guidance control process executed in a second modified example. [Figure 11] 10 is a flowchart showing a status notification process executed in a second modified example. [Figure 12] 10 is a flowchart showing a guidance control process executed in a third modified example. [Figure 13] FIG. 11 is a conceptual diagram illustrating a scene in which a robot blocks the entrance to a car in response to a command in the third modified example. [Figure 14] FIG. 13 is a conceptual diagram illustrating passenger load factor management data used in a fourth modified example. [Figure 15] 13 is a flowchart showing a status notification process executed in a fourth modified example. DETAILED DESCRIPTION OF THE INVENTION

[0026] [1] Implementation [1-1] Overall structure of the elevator FIG. 1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. In this embodiment, the elevator is equipped with multiple cars G. A first operating unit 1 is installed at each floor landing, allowing the user to specify a destination direction Kc. Each car G is equipped with a second operating unit 2, allowing the user to specify a destination floor Fd. This elevator also includes a robot H for providing information to users at a landing of a predetermined floor Ft selected from among multiple floors to which the elevator can be guided (any one floor, or several or all floors, may be the predetermined floor Ft). In addition to these components, the elevator of this embodiment further includes a group management control device 3 and a robot management device 4. The group management control device 3 and the robot management device 4 constitute a guidance system using the robot H to significantly improve the transport efficiency of the elevator. The configuration of each component will be described in detail below.

[0027] <1st operation section> On floors other than the terminal floors, i.e., the top floor and the bottom floor, the first operation unit 1 includes an up button for specifying an up direction as the destination direction Kc and a down button for specifying a down direction as the destination direction Kc. On the other hand, on the top floor, the first operation unit 1 includes only the down button, and on the bottom floor, the first operation unit 1 includes only the up button.

[0028] When a user operates the first operation unit 1 at a hall (by pressing the up button or down button) to specify a destination direction Kc, the destination direction Kc is transmitted to the group management control device 3. As a result, a request is made to the group management control device 3 to allocate the hall call X for the user (allocation to a car G) (allocation request from the user). At this time, device information Pd1 for identifying the operated first operation unit 1 from other operation units, devices, etc. is also transmitted to the group management control device 3 so that the group management control device 3 can recognize which floor the operated first operation unit 1 is for.

[0029] <Second operation section> The second operation unit 2 includes a plurality of destination floor buttons, each corresponding to a plurality of floors that can be reached by the elevator. When a destination floor button is pressed on the second operation unit 2, the floor corresponding to that button is registered as the destination floor Fd.

[0030] When a user operates the second operation unit 2 in a car G (by pressing the destination floor button) to register a destination floor Fd, the destination floor Fd is transmitted to the group management control device 3. As a result, the group management control device 3 is requested to register a car call Y for the user (register it in the car G). At this time, device information Pd2 for distinguishing the operation unit from other operation units or devices is also transmitted to the group management control device 3 so that the group management control device 3 can recognize which car G the operated second operation unit 2 is in.

[0031] <Group management control device> The group management control device 3 is a device that centrally controls a plurality of cars G equipped in the elevator of this embodiment through an elevator control device provided for each car G.

[0032] Specifically, when an allocation request is received from a user at a hall, the group management control device 3 extracts allocation candidates from among multiple cars G and allocates the hall call X to the allocation candidate (if there are multiple candidates, one of them) (allocation process; see Figure 3). Details of this allocation process will be described later. Then, the group management control device 3 controls the operation of each car G through the elevator control device, causing each car G to execute a response operation to the hall call X allocated to that car (response process).

[0033] Furthermore, in the guidance system, the group management control device 3 executes guidance processing in cooperation with the robot management device 4 to significantly improve the transportation efficiency of the elevators using the robots H. Specifically, this is as follows.

[0034] Each car G is equipped with a camera 60 for taking pictures of the inside of the car (see FIG. 1), and the group management control device 3 can acquire images of the inside of each car G taken by the camera 60 through the elevator control device. When a car G is stopped at a predetermined floor Ft, the group management control device 3 acquires images of the inside of the car G taken by the camera 60 at that time, determines the situation inside the car G (in this embodiment, the passenger's riding status) based on the images, and notifies the robot management device 4 of the situation (status notification process; see FIG. 4). Details of this status notification process will be described later.

[0035] Each car G may be provided with a load sensor 61 (such as a load cell) for measuring the total load inside the car (see FIG. 1), and in that case, the group management control device 3 can acquire the actual measured value of the total load inside each car G measured by the load sensor 61 through the elevator control device. When a car G is stopped at a predetermined floor Ft, the group management control device 3 may acquire the value (actual measured value) of the total load inside the car G at that time measured by the load sensor 61, and determine the situation inside the car G based on the actual measured value.

[0036] Specifically, the group management control device 3 includes a storage unit 31 and a control unit 32 (see FIG. 1). In the guidance system, the control unit 32 functions as a first control unit that executes guidance processing in cooperation with a control unit 42 (a second control unit in the guidance system) of the robot management device 4, which will be described later.

[0037] The storage unit 31 is a part configured with storage devices such as ROM and RAM, and stores information necessary for the control processing performed by the group management control device 3. In this embodiment, such information includes device management data Dp, hall call management data Dx, car call management data Dy, robot management data Dq, and occupancy rate management data Dr stored in the storage unit 31. The device management data Dp also includes device management data Dp1 for the first operation unit 1 and device management data Dp2 for the second operation unit 2 (not shown in FIG. 1).

[0038] Here, the device management data Dp1 is a database for managing, for each first operation unit 1, a plurality of pieces of information related to the first operation unit 1 by linking them together. The device management data Dp2 is a database for managing, for each second operation unit 2, a plurality of pieces of information related to the second operation unit 2 by linking them together. The hall call management data Dx and the car call management data Dy are data for managing information on hall calls X and car calls Y for users, respectively. The robot management data Dq is a database for managing, for each robot H, a plurality of pieces of information related to the robot H by linking them together. The occupancy rate management data Dr is data for managing, for each car G, a target value Rt (a value for improving transport efficiency) set for the occupancy rate Rs of the car G. Specifically, it is as follows.

[0039] 2(A) is a conceptual diagram illustrating device management data Dp1 used in this embodiment for the first operation unit 1. In the device management data Dp1, for each first operation unit 1, device information Pd1 of the first operation unit 1 and the installation floor Fs are recorded in a mutually associated state.

[0040] As a result, when the group management control device 3 receives device information Pd1 together with the destination direction Kc from each first operation unit 1, it becomes possible to identify the installation floor Fs of the first operation unit 1 (the first operation unit 1 for which the destination direction Kc has been specified by the user) from the device information Pd1. In this embodiment, the installation floor Fs of the first operation unit 1 is used as the departure floor Fc (boarding floor) of the user who specified the destination direction Kc on the first operation unit 1.

[0041] 2(B) is a conceptual diagram illustrating the device management data Dp2 used in this embodiment for the second operation unit 2. In the device management data Dp2, for each second operation unit 2, device information Pd2 of that second operation unit 2 and car information Pg of the car G in which that second operation unit 2 is installed are recorded in a mutually associated state.

[0042] As a result, when the group management control device 3 receives the device information Pd2 together with the destination floor Fd from each second operation unit 2, it becomes possible to identify, from the device information Pd2, the car G in which the second operation unit 2 is installed (the car G in which the destination floor Fd has been registered by the user). Therefore, when the group management control device 3 registers the destination floor Fd received from each second operation unit 2 as a car call Y, it becomes possible to identify the car G to which the destination floor Fd should be registered.

[0043] 2(C) and 2(D) are conceptual diagrams illustrating examples of the hall call management data Dx and the car call management data Dy used in this embodiment, respectively.

[0044] In the hall call management data Dx (see FIG. 2(C)), each piece of car information Pg of a car G is associated with an allocation status of a hall call X for a user for that car G. Specifically, for each elevator floor and for each direction in which the car G can move from that floor, a status indicating whether or not a hall call X has been allocated, with the pair of floors and directions being the departure floor Fc and the destination direction Kc, respectively, is associated as the allocation status. The example in FIG. 2(C) shows a case in which the allocation status for each direction from each floor is updated to "ON" when a hall call X has been allocated, with the pair of floors and directions being the departure floor Fc and the destination direction Kc, respectively, and is updated to "OFF" when the hall call X is deleted.

[0045] In the car call management data Dy (see FIG. 2(D)), the car information Pg of each car G is associated with the registration status of a car call Y for a user of that car G. Specifically, for each elevator floor, a status indicating whether or not a car call Y for a user with that floor as a destination floor Fd has been registered (in other words, whether or not a destination floor button for registering that floor as a destination floor Fd has been pressed on the second operation unit 2 in the car G) is associated as the registration status. The example of FIG. 2(D) shows a case where the registration status for each floor is updated to "ON" when a car call Y with that floor as a destination floor Fd is registered, and is updated to "OFF" when that car call Y is deleted.

[0046] 2(E) is a conceptual diagram illustrating the robot management data Dq used in this embodiment. In the robot management data Dq, for each robot H, the robot information Ph of that robot H and the predetermined floor Ft on which that robot H is deployed are recorded in a mutually associated state.

[0047] This enables the group management control device 3, each time the elevator car G stops at any floor, to determine from the floor number of the arrival floor at that time whether a robot H is deployed at the landing on that floor, and if so, which robot H is deployed there.

[0048] 2(F) is a conceptual diagram illustrating the occupancy rate management data Dr used in this embodiment. In the occupancy rate management data Dr, for each car G, the car information Pg of that car G and the target value Rt of the occupancy rate Rs that should be achieved by that car G are recorded in a mutually associated state. Note that the occupancy rate management data Dr may record a fixed value (e.g., 80%) previously set by the group management control device 3 as the target value Rt, or may record the latest value set by the group management control device 3 depending on the elevator usage status at that time (such as the congestion status of users).

[0049] This enables the group management control device 3 to refer to the target value Rt of the occupancy rate Rs to be achieved in each car G (or the latest target value Rt if set according to usage conditions) when necessary.

[0050] The control unit 32 is a part that is responsible for executing the control processes (including allocation processes, response processes, and status notification processes) performed by the group management control device 3. Specifically, the control unit 32 is composed of processing devices such as a CPU or MPU, and executes a control program installed in the group management control device 3 to realize the execution of its own control processes in software. Note that, before being installed in the group management control device 3, this control program may be stored in a readable state on a portable storage medium (for example, a flash memory, etc.), or may be stored in a downloadable state on another server, etc. Furthermore, the control processes performed by the group management control device 3 are not limited to being realized in software by executing a program, but may also be realized in hardware by a processing circuit (control unit 32) built in the group management control device 3.

[0051] <Robot management device> The robot management device 4 is a device that centrally manages the robots H deployed on a predetermined floor Ft.

[0052] In this embodiment, each robot H has an imaging function (a function of taking pictures with its own camera 50 (see FIG. 1)), and can take pictures (see FIGS. 6(A) and 6(B)) of the hall at the predetermined floor Ft where it is deployed in response to a command from the robot management device 4. In addition, each robot H has an alarm function (a function of providing information by audio output, screen display, etc.), and can output various types of information in response to a command from the robot management device 4 (see FIGS. 7(A) and 7(B)).

[0053] Then, the robot management device 4 executes a guidance process for significantly improving the transportation efficiency of the elevator using the robot H in cooperation with the group management control device 3. Specifically, the process is as follows.

[0054] When a car G is stopped at a predetermined floor Ft, and the robot management device 4 is notified of the situation inside the car G (in this embodiment, the passenger's boarding status) by the group management control device 3, the robot management device 4 performs the following guidance control processing (see FIG. 5). The robot management device 4 determines whether or not a passenger waiting to board the car G is at the platform, and if it determines that the passenger is "at the platform," it uses the robot H deployed at the predetermined floor Ft to provide guidance to the passenger at the platform according to the notified situation inside the car G. Details of this guidance control processing will be described later.

[0055] Specifically, the robot management device 4 includes a storage unit 41 and a control unit 42 (see FIG. 1). In the guidance system, the control unit 42 functions as a second control unit that executes guidance processing in cooperation with the control unit 32 (first control unit in the guidance system) of the group management control device 3.

[0056] The storage unit 41 is a part configured with storage devices such as ROM and RAM, and stores information necessary for the control processing performed by the robot management device 4. In this embodiment, the robot management data Dq in FIG. 2(E) is also stored in the storage unit 41 as such information.

[0057] As a result, when the robot management device 4 receives the floor number of a predetermined floor Ft (the floor where a robot H is deployed) from the group management control device 3 as described below, it becomes possible to identify which robot H is deployed on that predetermined floor Ft from the floor number (see step S301 in FIG. 5). Furthermore, when the robot management device 4 receives robot information Ph from each robot H, it becomes possible to identify the floor (predetermined floor Ft) where that robot H is deployed from the robot information Ph.

[0058] The control unit 42 is a part that is responsible for executing the control processes (including guidance control processes) performed by the robot management device 4. Specifically, the control unit 42 is composed of processing devices such as a CPU or an MPU, and executes a control program installed in the robot management device 4 to realize the execution of its own control processes in software. Note that, before being installed in the robot management device 4, this control program may be stored in a readable state on a portable storage medium (for example, a flash memory, etc.), or may be stored in a downloadable state on another server, etc. Furthermore, the control processes performed by the robot management device 4 are not limited to being realized in software by executing a program, but may also be realized in hardware by a processing circuit (control unit 42) built in the robot management device 4.

[0059] [1-2] Control process executed by elevator [1-2-1] Allocation process performed by the group management control device Fig. 3 is a flowchart showing the allocation process executed in this embodiment. This allocation process is started every time a user (first operation unit 1) requests the group management control device 3 to allocate a hall call X. Specifically, the group management control device 3 starts the allocation process in Fig. 3 every time it receives a set of information including a destination direction Kc and device information Pd1. Hereinafter, this set of information will be referred to as "received information Pr1".

[0060] When the allocation process begins, the group management control device 3 first uses the device management data Dp1 to find device information Pd1 managed therein that matches the device information Pd1 in the received information Pr1, then extracts the installation floor Fs associated with the device information Pd1, and sets the installation floor Fs as the user's departure floor Fc. The group management control device 3 then determines the hall call X of the user to whom allocation should be performed (step S101). Specifically, the group management control device 3 sets the user's departure floor Fc (= installation floor Fs) and the destination direction Kc in the received information Pr1 (user's destination direction Kc) as the hall call X of the user.

[0061] After step S101, the group management control device 3 extracts allocation candidates for the hall call X determined in step S101 from among the multiple cars G (step S102). Then, the group management control device 3 executes allocation of the hall call X to the allocation candidate extracted in step S102 (if there are multiple candidates, one of the allocation candidates) (step S103; see FIG. 2(C)). Thereafter, the group management control device 3 ends the allocation process.

[0062] [1-2-2] Status notification processing performed by the group management control device 4 is a flowchart showing the status notification process executed in this embodiment. This status notification process is started every time the elevator car G stops at a predetermined floor Ft where the robot H is deployed. Specifically, the status notification process is started through the following process.

[0063] The group management control device 3 keeps track of the current position and movement direction (including the next departure direction from the arrival floor) of each car G at any time based on the elevator information it holds (including information indicating the operation status of each car G and the usage status of the elevator). Therefore, the group management control device 3 can determine for each car G whether or not that car G has arrived at a certain floor, and if it determines that the car G has "arrived," it can identify the floor number of the arrival floor at that time and the next departure direction from that arrival floor.

[0064] If the group management control device 3 determines that any of the cars G have "arrived," it further determines whether the floor number of the arrival floor at that time matches any of the floor numbers recorded as the predetermined floor Ft in the robot management data Dq (see Figure 2(E)). If the group management control device 3 determines that they "match," it can determine that a robot H is deployed at the arrival floor. In this case, the group management control device 3 sets the car G that was the subject of the determination and the arrival floor (the predetermined floor Ft where that car G arrived) as the target car Gk and target floor Fk, respectively, so that the robot H can be used to guide users at the arrival floor. Then, it starts the status notification process of Figure 4.

[0065] When the status notification process starts, the group management control device 3 first acquires an image of the interior of the target car Gk taken by the camera 60 (step S201) and estimates the occupancy rate Rs of the target car Gk by analyzing the image (step S202). As an example, the group management control device 3 can estimate the number of passengers in the target car Gk through image analysis and calculate the occupancy rate Rs by dividing that number by the capacity of the target car Gk. Furthermore, if the group management control device 3 detects through image analysis that a passenger is carrying large baggage, it may convert that baggage into the number of passengers to calculate the occupancy rate Rs.

[0066] In steps S201 and S202, the group management control device 3 may acquire the total load in the target car Gk measured by the load sensor 61 (actual measurement value) instead of the image, and estimate the occupancy rate Rs of the target car Gk based on the actual measurement value. Alternatively, the group management control device 3 may acquire both the image and the actual measurement value, and use both of them to estimate the occupancy rate Rs of the target car Gk.

[0067] After step S202, the group management control device 3 determines whether the occupancy rate Rs estimated in step S202 has reached the target value Rt (step S203). Specifically, the group management control device 3 determines whether the occupancy rate Rs estimated in step S202 has reached the target value Rt, using the target value Rt associated with the car information Pg of the target car Gk in the occupancy rate management data Dr.

[0068] If the group management control device 3 determines in step S203 that the target car Gk has not been reached (No), it can determine that there is still space available in the target car Gk for a passenger to board. In this case, the group management control device 3 outputs a boarding possible signal Sx to notify the robot control device 4 that boarding to the target car Gk is possible (step S210). At this time, the group management control device 3 includes car information Pg of the target car Gk and the floor number of the target floor Fk as additional information in the boarding possible signal Sx so that the robot control device 4 can recognize which car G the target car Gk is parked at and at which floor. After step S210, the group management control device 3 proceeds to step S211.

[0069] On the other hand, if the group management control device 3 determines "reached (Yes)" in step S203, it can determine that there is no free space remaining in the target car Gk for passengers to board. In this case, the group management control device 3 outputs a boarding restriction signal Sy to notify the robot control device 4 that boarding into the target car Gk should be restricted (step S220). At this time, too, the group management control device 3 includes the car information Pg of the target car Gk and the floor number of the target floor Fk as additional information in the boarding restriction signal Sy so that the robot control device 4 can recognize which car G the target car Gk is parked on and at which floor. After step S220, the group management control device 3 also proceeds to step S211.

[0070] In step S211, the group management control device 3 determines whether the door open time (the time for which the door is maintained in a fully open state) has elapsed for the target car Gk. If the group management control device 3 determines "not elapsed (No)" in step S211, it returns to step S201 and repeatedly executes the processing from step S201 to monitor changes in the occupancy rate Rs of the target car Gk until it can determine "elapsed (Yes)" in step S211.

[0071] If the group management control device 3 determines in step S211 that "time has passed (Yes)", it further determines whether door opening has been completed (step S212). Then, if the group management control device 3 determines in step S212 that "time has passed (Yes)", it ends the status notification process.

[0072] According to this type of status notification processing, it is possible to make the judgment in step S203 above by utilizing the outputs (images and actual measurements) of the camera 60 and load sensor 61 that are generally often mounted on the car G. Then, if it is judged in step S203 that "not reached (No)" (if the occupancy rate Rs of the target car Gk has not reached the target value Rt), it is possible to notify the robot management device 4 that it is possible to board the target car Gk by outputting a boarding permission signal Sx. Also, if it is judged in step S203 that "reach has been reached (Yes)", it is possible to notify the robot management device 4 that boarding in the target car Gk should be restricted by outputting a boarding restriction signal Sy.

[0073] [1-2-3] Guidance control process performed by the robot management device 5 is a flowchart showing the guidance control process executed in this embodiment. This guidance control process is started when the robot management device 4 receives a boarding permission signal Sx or a boarding restriction signal Sy from the group management control device 3. Hereinafter, the signals that trigger the start (boarding permission signal Sx or boarding restriction signal Sy) will be collectively referred to as the "received signal Sr."

[0074] When the guidance control process is started, the robot management device 4 first uses the floor number of the target floor Fk (the floor where the target car Gk is stopped) contained in the received signal Sr as additional information to identify which robot H is deployed at that target floor Fk (step S301). Specifically, the robot management device 4 uses the robot management data Dq to find the floor number that matches the floor number of the target floor Fk in the received signal Sr from the floor numbers recorded therein as the predetermined floor Ft, and then extracts the car information Pg associated with that floor number (predetermined floor Ft), and uses the car information Pg to identify the robot H deployed at the target floor Fk.

[0075] Next, the robot management device 4 designates the robot H identified in step S301 as the target robot Hk, and then determines whether the received signal Sr is a boarding permission signal Sx or a boarding restriction signal Sy in order to determine what kind of guidance the target robot Hk should provide (step S302).

[0076] If the robot management device 4 determines in step S302 that the signal is a "boarding available signal Sx," it can determine that there is an empty space available for a passenger in the target car Gk (the car G identified by the car information Pg that the received signal Sr has as additional information). In this case, the robot management device 4 determines whether a passenger who should board in the empty space is at the landing of the target floor Fk based on an image of the landing. To obtain the image, the robot management device 4 first commands the target robot Hk to photograph the landing of the target floor Fk (step S311). Following the command, the target robot Hk then points its camera 50 toward the landing of the target floor Fk to photograph (see FIG. 6(A)) and transmits the photographed image to the robot management device 4.

[0077] Next, the robot management device 4 analyzes the image transmitted from the target robot Hk to determine whether or not a user waiting to board the target car Gk is at the hall (step S312). As an example, the robot management device 4 can determine whether or not a user at the hall is waiting to board the target car Gk by determining through image analysis whether or not the user is facing the target car Gk.

[0078] If the robot management device 4 determines "present at the platform (Yes)" in step S312, it can determine that a passenger who should be allowed to board the target car Gk is present at the platform. In this case, the robot management device 4 commands the target robot Hk to output guidance information Px1 (audio output, screen display, etc.; see FIG. 7(A)) to encourage the passenger at the platform to board the target car Gk (step S313). As a result, the target robot Hk outputs the guidance information Px1 to the passenger at the platform in accordance with the command. For example, the guidance information Px1 is voice data or text data such as "This car is still available for boarding. Please board this car." The guidance information Px1 may be pre-recorded in the target robot Hk or may be transmitted from the robot management device 4 to the target robot Hk each time a command is issued. After step S313, the robot management device 4 terminates the guidance control process.

[0079] On the other hand, if the robot management device 4 determines in step S312 that the target robot Hk is not at the landing (No), it can determine that although there is an empty space in the target car Gk, the passenger who should board that empty space is not at the landing. In this case, the robot management device 4 does not need to encourage the target robot Hk to board the target car Gk, and therefore ends the guidance control process without instructing the target robot Hk to output guidance information Px1.

[0080] If the robot management device 4 determines in step S302 that the signal is a "boarding restriction signal Sy," it can determine that there is no space left in the target car Gk for passengers to board. In this case, the robot management device 4 first commands the target robot Hk to photograph the hall at the target floor Fk in order to obtain an image of the hall, based on an image of the hall. As a result, the target robot Hk follows the command to point its camera 50 toward the hall at the target floor Fk, photograph the hall (see FIG. 6(B)), and transmit the image obtained by photographing to the robot management device 4.

[0081] Next, the robot management device 4 analyzes the image transmitted from the target robot Hk to determine whether or not there are any users remaining at the hall waiting to board the target car Gk (step S322). As an example, the robot management device 4 can determine whether or not a user at the hall is waiting to board the target car Gk by determining through image analysis whether or not the user is facing the target car Gk.

[0082] If the robot management device 4 determines "remaining at the hall (Yes)" in step S322, it can determine that there is a risk that a passenger at the hall will try to board the target car Gk even though there is no available space. In this case, the robot management device 4 commands the target robot Hk to output guidance information Px2 (audio output, screen display, etc.; see FIG. 7(B)) to restrict further boarding into the target car Gk (step S323). As a result, the target robot Hk outputs the guidance information Px2 to passengers at the hall in accordance with the command. For example, the guidance information Px2 is voice data or text data such as "No more passengers can board this car. Please board the next car." The guidance information Px2 may be pre-recorded in the target robot Hk or may be transmitted from the robot management device 4 to the target robot Hk each time a command is issued. After step S323, the robot management device 4 terminates the guidance control process.

[0083] On the other hand, if the robot management device 4 determines in step S322 that "there are no passengers remaining at the landing (No)," it can determine that there are no passengers at the landing who are trying to force their way into the target car Gk that has no available space. In this case, the robot management device 4 does not need to restrict further boarding into the target car Gk, and therefore ends the guidance control process without instructing the target robot Hk to output guidance information Px2.

[0084] According to this guidance control process, simply by deploying the robot H at the hall of a predetermined floor Ft, it becomes possible to have the robot H take a photograph of the hall, and further, it becomes possible to make the determinations of steps S312 and S322 based on the image obtained by the photograph. Then, it becomes possible to have the robot H provide guidance only when it is determined that the user waiting to board is "at the hall" or "remaining at the hall."

[0085] Furthermore, in the above-described status notification process (see FIG. 4), in order to monitor changes in the occupancy rate Rs in the target car Gk, the process from step S201 onward is repeatedly executed until the door-open time has elapsed in the target car Gk, and the guidance control process (see FIG. 5) described here is executed each time. Therefore, as long as there are passengers waiting to board the target car Gk at the landing, it is possible to have the target robot Hk execute guidance to encourage passengers at the landing to board (for example, notifying them of the number of passengers who can board the target car Gk) until the occupancy rate Rs reaches the target value Rt. This makes it possible to operate the elevator at the desired occupancy rate Rs (target value Rt), thereby improving transportation efficiency.

[0086] Furthermore, when the occupancy rate Rs of the target car Gk reaches the target value Rt, if there are still passengers waiting to board at the landing, it is possible to have the target robot Hk execute a guidance to restrict boarding into the target car Gk (for example, a notice that no more passengers can board the target car Gk) until the door-opening time has elapsed. This makes it less likely that passengers will try to board the car forcibly, causing a delay in departure, and as a result, it is possible to further improve transportation efficiency.

[0087] As described above, according to this embodiment, the robot H can be used to significantly improve the transport efficiency of the elevator.

[0088] [2] Variation [2-1] First modified example The first modified example is a modified example of the embodiment described above. Fig. 8 is a flowchart showing the guidance control process executed in the first modified example. Fig. 9 is a flowchart showing the situation notification process executed in the first modified example. In this modified example, the following processes are further executed in the guidance control process and the situation notification process.

[0089] If the robot management device 4 determines in step S312 (see Figure 8) that the robot is at the landing (Yes), it instructs the target robot Hk to output guidance information Px1 in step S313, and also outputs a door opening extension signal Sz1 to instruct the group management control device 3 to extend the door opening of the target car Gk (step S330).

[0090] After step S210 (output of boarding possible signal Sx; see FIG. 9), the group management control device 3 further determines whether or not the door open extension signal Sz1 has been received from the robot control device 4 (step S231) so that it can respond to the door open extension signal Sz1. If the group management control device 3 determines in step S231 that the signal has been received (Yes), it extends the door open time (step S232). Specifically, the group management control device 3 sets the extended door open time as the new door open time.

[0091] According to the first variant, it is possible to secure the time required for guidance (guidance by the target robot Hk) to encourage users at the boarding area to board, and the time required for users to board the target car Gk after being prompted by that guidance.

[0092] [2-2] Second variant The second modified example is a modified example of the embodiment described above. Fig. 10 is a flowchart showing the guidance control process executed in the second modified example. Fig. 11 is a flowchart showing the situation notification process executed in the second modified example. In this modified example, the following processes are further executed in the guidance control process and the situation notification process.

[0093] If the robot management device 4 determines in step S312 (see FIG. 10) that the robot is not at the landing (No), it can determine that boarding into the target car Gk at the target floor Fk has been completed, even though the occupancy rate Rs has not reached the target value Rt (in other words, there is free space in the target car Gk). Therefore, in this modified example, if the robot management device 4 determines in step S312 that the robot is not at the landing (No), it outputs a door close start signal Sz2 to instruct the group management control device 3 to close the doors of the target car Gk before terminating the guidance control process (step S341).

[0094] Furthermore, if the robot management device 4 determines in step S302 (see FIG. 10) that the signal is the "boarding restriction signal Sy," it can determine that there is no space left in the target car Gk for passengers to board, and that there is no need to keep the target car Gk stopped at the target floor Fk any longer. Therefore, in this modified example, even if the robot management device 4 determines in step S302 that the signal is the "boarding restriction signal Sy," it outputs the door close start signal Sz2 before ending the guidance control process (step S342).

[0095] To be able to respond to the door-closing start signal Sz2, after determining in step S211 (see FIG. 11) that "the period has not elapsed (No)," the group management control device 3 further determines whether or not the door-closing start signal Sz2 has been received from the robot control device 4 (step S240) before returning to step S201. If the group management control device 3 determines in step S240 that "the signal has been received (Yes)," it proceeds to step S212 without returning to step S201.

[0096] According to the second modification, even if the occupancy rate Rs of the target car Gk has not reached the target value Rt, when boarding at the target floor Fk is completed, it is possible to close the doors and depart the target car Gk without waiting for the preset door-open time (the time for which the doors are maintained in the fully open state) to elapse. Also, when there is no more free space in the target car Gk, it is possible to close the doors and depart the target car Gk without waiting for the preset door-open time to elapse.

[0097] 10, the robot management device 4 may transmit, together with the door closing start signal Sz2, a full-occupancy signal notifying that the occupancy rate Rs of the target car Gk has reached the target value Rt to the group management control device 3. This makes it possible for the group management control device 3, when receiving a full-occupancy signal, to change the allocation of the hall call X to the target car Gk so that the target car Gk can pass through the floor at which it was scheduled to stop thereafter (here, the floor at which it will stop in response to the hall call X).

[0098] This configuration in which the door closing is started by outputting the door closing start signal Sz2 without waiting for the door opening time to elapse can also be applied to the above-mentioned modified example 1. The guidance control process of this modified example may be appropriately modified to include only one of the above-mentioned two steps S341 and S342.

[0099] [2-3] Third variant The third modified example is a modified example of the above-described embodiment. Fig. 12 is a flowchart showing the guidance control process executed in the third modified example. In the guidance control process of this modified example, the robot management device 4 further performs the following process.

[0100] If the robot management device 4 determines in step S322 that the target robot Hk remains at the landing (Yes), it commands the target robot Hk to output guidance information Px2 in step S323, and also commands the target robot Hk to perform an action to block the entrance of the target car Gk (see FIG. 13) (step S350). As a result, the target robot Hk moves in front of the entrance of the target car Gk, thereby blocking the entrance.

[0101] According to the third modified example, it is possible to forcibly prohibit the target robot Hk from ignoring the guidance from the target robot Hk and getting on the train.

[0102] Incidentally, the configuration in which the target robot Hk is instructed to block the entrance of the target car Gk in this manner can also be applied to the first and second modified examples described above.

[0103] [2-4] Fourth Variation The fourth modification is a modification of the above-described embodiment.

[0104] FIG. 14 is a conceptual diagram illustrating the occupancy rate management data Dr used in the fourth modified example. In this modified example, the group management control device 3 can temporarily change the target value Rt in the occupancy rate management data Dr from a default value (a preset fixed value or the latest value set according to the elevator usage status). In the occupancy rate management data Dr, each piece of car information Pg is associated with a change flag Pf indicating whether the corresponding target value Rt has been temporarily changed. In the example of FIG. 14, Pf="1" indicates that the target value Rt has been temporarily changed, and Pf="0" indicates that the target value Rt remains unchanged at the default value. The reason why the group management control device 3 temporarily changes the target value Rt in this modified example will become clear in the following description of the status notification process.

[0105] 15 is a flowchart showing the status notification process executed in the fourth modified example. In the status notification process of this modified example, the group management control device 3 further performs the following processes.

[0106] When the status notification process begins, the group management control device 3 first determines whether the change flag Pf associated with the car information Pg of the target car Gk is "0" or "1" by referring to the occupancy rate management data Dr (step S250).

[0107] If the group management control device 3 determines in step S250 that Pf="0", it determines whether the target car Gk is scheduled to stop at another predetermined floor Ft (a floor where another robot H is deployed) in response to a hall call X after the target floor Fk where it is currently stopped (step S251). Specifically, the group management control device 3 makes the determination in step S251 using the elevator information it holds at that time (including information on the hall call X assigned to the target car Gk).

[0108] If the group management control device 3 determines "planned (Yes)" in step S251, it sets the default value recorded in the occupancy rate management data Dr as the target value Rt of the target car Gk as the first target value Rt1, and sets a second target value Rt2 lower than the first target value Rt1 as the new target value Rt of the target car Gk (step S252). Specifically, the group management control device 3 changes the target value Rt of the target car Gk in the occupancy rate management data Dr to the second target value Rt2. At this time, the group management control device 3 sets the change flag Pf associated with the car information Pg of the target car Gk to "1". Then, the group management control device 3 executes the processing from step S201.

[0109] On the other hand, if the group management control device 3 determines "not scheduled (No)" in step S251, it executes the processing from step S201 without changing the settings in step S252.

[0110] According to this processing, even in a situation where the number of passengers boarding from the first specified floor Ft (target floor Fk) is so large that the occupancy rate Rs of the target car Gk always reaches the default value, by setting the target value Rt of the occupancy rate Rs at that specified floor Ft to the second target value Rt2, it is possible to leave space so that passengers can board the target car Gk at the second specified floor Ft as well.

[0111] Then, after performing the series of processes, the group management control device 3 returns the target value Rt of the target car Gk recorded in the occupancy rate management data Dr from the second target value Rt2 to the first target value Rt1 (default value) (step S270) before terminating the status notification process. Specifically, the group management control device 3 returns the target value Rt of the target car Gk in the occupancy rate management data Dr to the first target value Rt1. At this time, the group management control device 3 leaves the change flag Pf associated with the car information Pg of the target car Gk set to "1" so that it can be confirmed from the occupancy rate management data Dr that space was intentionally left in the target car Gk.

[0112] Thereafter, when the target car Gk stops at the second predetermined floor Ft, the group management control device 3 sets the second predetermined floor Ft as the target floor Fk and starts the status notification process of Fig. 15. At this time, in the occupancy rate control data Dr, the target value Rt of the target car Gk is set to the first target value Rt1 (default value), and the corresponding change flag Pf is set to "1." Therefore, the group management control device 3 determines in step S250 that Pf="1."

[0113] In this case, the group management control device 3 changes the change flag Pf associated with the car information Pg of the target car Gk in the occupancy rate management data Dr from "1" to "0" (step S260). Then, the group management control device 3 executes the processing from step S201.

[0114] According to this processing, it is possible for passengers waiting at the boarding area of ​​the second specified floor Ft to board in the space remaining at the first specified floor Ft until the occupancy rate Rs reaches the first target value Rt1 (default value).

[0115] Incidentally, the configuration for changing the target value Rt in order to leave space on the first predetermined floor Ft can also be applied to the first to third modified examples described above.

[0116] [2-5] Fifth variant The fifth modification is a further modification of the above-described fourth modification. When the group management control device 3 sets the second target value Rt2 as the new target value Rt of the target car Gk in step S252 of Fig. 15, the group management control device 3 can determine the value of the second target value Rt2 as follows.

[0117] The group management control device 3 outputs an information request signal Sz3 to request the robot management device 4 to provide information on the number of passengers waiting to board at the platform of the second predetermined floor Ft in order to ascertain the number of passengers. At this time, the group management control device 3 includes the floor number of the second predetermined floor Ft as additional information in the information request signal Sz3 so that the robot management device 4 knows which floor information is being requested.

[0118] When the robot control device 4 receives the information request signal Sz3 from the group control device 3, it commands the robot H deployed at the second predetermined floor Ft (the floor specified by the floor number included as additional information in the information request signal Sz3) to take an image of the hall at that predetermined floor Ft. In response to this command, the robot H points the camera 50 toward the hall at the predetermined floor Ft to take an image, and transmits the image obtained by this image capture to the robot control device 4.

[0119] Next, the robot management device 4 analyzes the image transmitted from the target robot Hk to determine the number of passengers waiting to board at the platform of the second predetermined floor Ft. As an example, the robot management device 4 calculates the number of passengers waiting to board at the platform by counting the number of passengers facing the boarding / alighting door at the platform. The robot management device 4 then returns the number of passengers determined in this way to the group management control device 3.

[0120] After outputting the information request signal Sz3, when the number of users who requested information provision by that signal (the number of users waiting to board at the platform of the second specified floor Ft) is returned from the robot management device 4, the group management control device 3 determines the second target value Rt2 according to that number.

[0121] According to the fifth variant, it is possible to determine the second target value Rt2 so as not to create unnecessary empty space in the target car Gk (in other words, so that the empty space left at the target floor Fk (first specified floor Ft) to allow boarding at the second specified floor Ft does not become excessive compared to the actual number of passengers).

[0122] [2-6] Sixth Variation In any of the above-described embodiments and modifications, each robot H may be modified as needed to execute the control processing (including guidance control processing) performed by the robot management device 4 on behalf of the robot management device 4. In this case, the group management control device 3 communicates with each robot H without the intervention of the robot management device 4. As an example, in the status notification processing, the group management control device 3 identifies which robot H is deployed on the target floor Fk by referencing the robot management data Dq, and transmits a boarding permission signal Sx to the robot H in step S210 and a boarding restriction signal Sy to the robot H in step S220. This enables each robot H to autonomously cooperate with the group management control device 3 and provide guidance to users on the specific floor Ft on which it is deployed. In this modification, a control unit (not shown) provided in each robot H functions as a second control unit that cooperates with the control unit 32 (first control unit in the guidance system) of the group management control device 3 to execute the guidance processing.

[0123] [2-7] Other variations In any of the above-described embodiments and modifications, the guidance processing executed by the guidance system (the status notification processing executed by the group management control device 3, and the guidance control processing executed by the robot management device 4) can also be applied to an elevator equipped with only one car G. In this case, the elevator control device that controls the one car G will perform the necessary communication with the robot management device 4 instead of the group management control device 3.

[0124] The above-described embodiments and modifications should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined not by the above-described embodiments and modifications, but by the claims. Furthermore, the scope of the present invention is intended to include all modifications that are equivalent to the scope of the claims and fall within the scope thereof.

[0125] Furthermore, from the above-described embodiments and modifications, the subject of the invention is not limited to the guidance system, but may also include guidance processing executed by the guidance system (including the corresponding control method (guidance method)), devices constituting the guidance system (such as the group management control device 3 and the robot management device 4), and further, control processing executed by each device (such as a status notification process and a guidance control process, including the corresponding control methods), programs, etc. Furthermore, some or all of the elevators to which the guidance system is applied may also be extracted as the subject of the invention. [Explanation of symbols]

[0126] 1 1st operation section 2 2nd operation section 3 Group management control device 4. Robot Management Device G car H Robot X Platform call Y Cage call 31, 41 Storage section 32, 42 Control section 50, 60 cameras 61 Load sensor Dp Equipment Management Data Dq Robot Management Data Dr. Occupancy rate management data Dx Hall call management data Dy Cage call management data Fc Departure Floor Fd Destination floor Fk target floor Fs Installation floor Ft designated floor GK target basket Hk Target Robot Kc destination direction Pf change flag Pg Basket Information Ph Robot Information Rs ridership Rt target value Sr Received signal Sx Ride-ready signal Sy Ride restriction signal Dp1, Dp2 equipment management data Pd1, Pd2 device information Pr1 Received information Px1, Px2 guide information Rt1 First target value Rt2 Second target value Sz1 Door open extension signal Sz2 Door closing start signal Sz3 Information request signal

Claims

1. A guidance system applicable to elevators where robots are installed on specific floors, a first control unit which, assuming a car stopped at the predetermined floor as a target car, estimates the occupancy rate of the target car based on an image taken by a camera installed in the target car or an actual measurement value obtained by measuring the total load in the target car, and then judges (A) whether the occupancy rate has reached a target value, and when it is judged in said judgement (A) that the target value has not been reached, outputs a boarding possible signal notifying that boarding to the target car is possible; a second control unit that, when receiving the boarding possible signal, commands the robot to take an image of the platform at the predetermined floor, and determines (B) based on the image obtained by the image taking, whether or not a user waiting to board the target car is present at the platform; Equipped with When the second control unit determines in the determination (B) that the user is at a hall, it instructs the robot to output guidance information for encouraging the user at the hall to get on the target car, If the target car is scheduled to stop at another predetermined floor in response to a hall call after the predetermined floor at which it is currently stopped, The first control unit In the determination (A) performed while the target car is stopped at a first predetermined floor, a second target value lower than a first target value, which is a default value, is used as the target value; In the determination (A) performed while the target car is stopped at a second predetermined floor, the first target value is used as the target value.

2. When the first control unit uses the second target value as the target value in the judgment (A) made while the target car is stopped at the first specified floor, the first control unit outputs an information request signal requesting the provision of information on the number of passengers waiting to board at the second specified floor before that, When the second control unit receives the information request signal, it commands a robot deployed on the predetermined floor to take an image of the platform on the predetermined floor indicated by the information request signal, and determines the number of users waiting to board at the predetermined floor based on the image obtained by the image capture, and then returns the number of users to the first control unit. The guidance system according to claim 1 , wherein, when the first control unit receives the number of people, the first control unit determines the second target value in accordance with the number of people.

3. 3. The guidance system according to claim 1, wherein when the second control unit determines in the determination (B) that the user is at a landing, the second control unit further instructs the first control unit to extend the door opening period of the target car.

4. 3. The guidance system according to claim 1, wherein the second control unit instructs the first control unit to close the door of the target car when the second control unit determines in the determination (B) that the user is not at the landing.

5. When the first control unit determines in the determination (A) that the target value has been reached, it outputs a boarding restriction signal indicating that boarding into the target car should be restricted, The second control unit is When the boarding restriction signal is received, the robot is instructed to take an image of the platform at the predetermined floor, and based on the image obtained by the image taking, it is determined (C) whether or not there are any passengers remaining at the platform waiting to board the target car, 3. The guidance system according to claim 1, wherein when the judgment (C) determines that the user remains at the platform, the robot is instructed to output guidance information to restrict boarding of the target car.

6. A guidance system applicable to elevators where robots are installed on specific floors, a first control unit which, assuming a car stopped at the predetermined floor as a target car, estimates the occupancy rate of the target car based on an image taken by a camera installed in the target car or an actual measurement value obtained by measuring the total load in the target car, and then judges (A) whether the occupancy rate has reached a target value, and when it is judged in said judgement (A) that the target value has been reached, outputs a boarding restriction signal notifying that boarding into the target car should be restricted; a second control unit that, when receiving the boarding restriction signal, commands the robot to take an image of the platform at the predetermined floor, and determines (C) based on the image obtained by the image taking, whether or not there are any passengers remaining at the platform waiting to board the target car; Equipped with When the second control unit determines in the determination (C) that the user remains at the hall, it instructs the robot to output guidance information for restricting boarding of the target car, If the target car is scheduled to stop at another predetermined floor in response to a hall call after the predetermined floor at which it is currently stopped, The first control unit In the determination (A) performed while the target car is stopped at a first predetermined floor, a second target value lower than a first target value, which is a default value, is used as the target value; In the determination (A) performed while the target car is stopped at a second predetermined floor, the first target value is used as the target value.

7. When the first control unit uses the second target value as the target value in the judgment (A) made while the target car is stopped at the first specified floor, the first control unit outputs an information request signal requesting the provision of information on the number of passengers waiting to board at the second specified floor before that, When the second control unit receives the information request signal, it commands a robot deployed on the predetermined floor to take an image of the platform on the predetermined floor indicated by the information request signal, and determines the number of users waiting to board at the predetermined floor based on the image obtained by the image capture, and then returns the number of users to the first control unit. The guidance system according to claim 6 , wherein, when the first control unit receives the number of people, the first control unit determines the second target value in accordance with the number of people.

8. 8. The guidance system according to claim 6, wherein when the second control unit determines in the determination (C) that the user remains at the landing, the second control unit further instructs the robot to block the entrance of the target car.

9. A guidance method applicable to an elevator in which a robot is installed on a predetermined floor, the first control unit, taking a passenger car stopped at the predetermined floor as a target car, estimates the occupancy rate of the target car based on an image taken by a camera installed in the target car or an actual measurement value obtained by measuring the total load in the target car, and then makes a judgment (A) as to whether or not the occupancy rate has reached a target value, and if it determines in the judgment (A) that the target value has not been reached, outputs a boarding possible signal notifying that boarding in the target car is possible; The second control unit When the boarding possible signal is received, the robot is instructed to take an image of the platform at the predetermined floor, and based on the image obtained by the image taking, it is determined (B) whether or not a user waiting to board the target car is present at the platform; When it is determined in the determination (B) that the user is at a platform, the robot is instructed to output guidance information for encouraging the user at the platform to board the target car; If the target car is scheduled to stop at another predetermined floor in response to a hall call after the predetermined floor at which it is currently stopped, The first control unit In the determination (A) performed while the target car is stopped at a first predetermined floor, a second target value lower than a first target value, which is a default value, is used as the target value; In the guidance method, the first target value is used as the target value in the determination (A) performed while the target car is stopped at a second predetermined floor.

10. A guidance method applicable to an elevator in which a robot is installed on a predetermined floor, the first control unit, taking a passenger car stopped at the predetermined floor as a target car, estimates the occupancy rate of the target car based on an image taken by a camera installed in the target car or an actual measurement value obtained by measuring the total load in the target car, and then makes a judgment (A) as to whether or not the occupancy rate has reached a target value, and when it is determined in the judgment (A) that the target value has been reached, outputs a boarding restriction signal notifying that boarding into the target car should be restricted; The second control unit When the boarding restriction signal is received, the robot is instructed to take an image of the platform at the predetermined floor, and based on the image obtained by the image taking, it is determined (C) whether or not there are any passengers remaining at the platform waiting to board the target car, When it is determined in the determination (C) that the user remains at the platform, the robot is instructed to output guidance information for restricting boarding of the target car, If the target car is scheduled to stop at another predetermined floor in response to a hall call after the predetermined floor at which it is currently stopped, The first control unit In the determination (A) performed while the target car is stopped at a first predetermined floor, a second target value lower than a first target value, which is a default value, is used as the target value; In the guidance method, the first target value is used as the target value in the determination (A) performed while the target car is stopped at a second predetermined floor.

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