Control device, elevator system, and control method

Abstract

The present application provides a control device, an elevator system, and a control method. In a case where an elevator is shifted to a standstill operation, a robot can be moved to a robot standby floor. An elevator / robot control section (23) of an elevator / robot cooperation device (2) of an elevator system (100) of one embodiment of the present application sends an execution instruction of a call return operation for returning a robot (1) to a robot standby floor to an elevator control panel (3) in a case where the elevator control panel (3) receives information indicating that an elevator is shifted to a standstill operation, in a case where a robot landing floor is different from the robot standby floor. In addition, the elevator / robot control section (23) performs control for an elevator standstill operation after detection of completion of the call return operation.

Description

TECHNICAL FIELD

[0001] The present application relates to a control device, an elevator system, and a control method. BACKGROUND

[0002] In recent years, practical use of an autonomous mobile body (hereinafter, also referred to as an autonomous mobile robot) that performs a service such as cleaning in a building or carrying of goods, or a guide of a route for a user of the building is advancing. In a building such as a building having a plurality of floors, in order for the autonomous mobile robot to perform the service as described above, use of an elevator by the autonomous mobile robot is indispensable.

[0003] For example, in Patent Literature 1, an elevator control device that performs control to move the autonomous mobile robot to a floor at which garbage can be discarded or a floor at which the robot can be charged in a case where the garbage of the cleaning robot is full, or in a case where the robot becomes insufficiently charged, or the like is disclosed.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent No. 6414026 SUMMARY

[0007] However, in the technology described in Patent Literature 1, for example, in a situation where the elevator cannot travel due to being in a stop (standby) operation, or the like, the autonomous mobile robot cannot use the elevator, and cannot move to a floor at which garbage can be discarded or a floor at which the robot can be charged (a robot standby floor).

[0008] The present application was completed in consideration of the situation, and an object of the present application is to provide a technology that enables the robot to move to the robot standby floor in a case where the elevator is shifted to a standby operation.

[0009] MEANS FOR SOLVING THE PROBLEM

[0010] The control device of one embodiment of the present application is a control device that controls an elevator control device that controls the operation of an elevator and a robot that moves in a building using the elevator in communication with each of the elevator control device and the robot. The control device of one embodiment of the present application includes an elevator / robot cooperation unit that, in a case where information indicating that the elevator is shifted to a standby operation is received from the elevator control device, compares a floor at which the robot alights from the elevator, i.e., a robot alighting floor, and a floor at which the robot stands by, i.e., a robot standby floor, and in a case where the two floors are different, transmits an execution instruction of a call return operation that returns the robot to the robot standby floor to the elevator control device.

[0011] EFFECT OF THE INVENTION

[0012] According to at least one embodiment of the present application, the robot can be moved to the robot standby floor in the case where the elevator is shifted to the standstill operation.

[0013] The problems, configurations, and effects other than the above will become apparent from the following description of the embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a diagram showing an example of a schematic configuration of an elevator system according to an embodiment of the present application.

[0015] Figure 2 is a block diagram showing an example of a hardware configuration of each device configuring an elevator system according to an embodiment of the present application.

[0016] Figure 3 is a flowchart showing an example of steps of processing of an elevator system at the time of robot work according to an embodiment of the present application.

[0017] Figure 4 is a flowchart showing an example of the order of processing of an elevator system at the time of standstill operation shift of a robot according to an embodiment of the present application.

[0018] Figure 5 is a flowchart showing an example of steps of robot call return operation control processing according to an embodiment of the present application.

[0019] Figure 6 is a flowchart showing an example of steps of standstill operation control processing according to an embodiment of the present application.

[0020] Figure 7 is a flowchart showing an example of steps of processing of an elevator system at the time of standstill operation shift of a robot according to a modified example. DETAILED DESCRIPTION

[0021] Hereinafter, examples of modes for carrying out the present application (hereinafter, referred to as "embodiments") will be described with reference to the accompanying drawings. The present application is not limited to the embodiments, and various numerical values and the like in the embodiments are examples. In addition, in the present specification and the drawings, the same symbols are attached to the same constituent elements or constituent elements having substantially the same functions, and repeated description will be omitted.

[0022] Schematic Configuration of Elevator System

[0023] First, with reference to Figure 1 The configuration of the elevator system 100 according to an embodiment of the present application will be described. Figure 1 is a diagram showing an example of a schematic configuration of the elevator system 100.

[0024] As Figure 1As shown, the elevator system 100 includes a robot 1, an elevator / robot cooperation device 2, an elevator control panel 3, a waiting hall 4, and a car 5.

[0025] [Robot]

[0026] The robot 1 is an autonomous mobile robot capable of autonomous movement using a wheel or the like not shown, and includes a communication section 11 and a robot control section 12. The communication section 11 communicates with a robot communication section 21 of the elevator / robot cooperation device 2. The robot control section 12 (an example of a robot control device) controls the actions of the robot 1.

[0027] For example, the robot control section 12 generates an instruction for causing the robot 1 to perform various services on the basis of a schedule or the like set in advance, and transmits the instruction to the robot 1 via the robot communication section 21. The information of the schedule can be stored in a storage section or the like not shown of the robot 1, or can be transmitted from the elevator / robot cooperation device 2.

[0028] In addition, in a case where a floor at which the robot 1 performs a service (hereinafter, also referred to as a robot work floor) is different from a floor at which the robot 1 stands by, i.e., a robot reference floor (an example of a robot stand-by floor), the robot control section 12 generates a car call for causing the robot 1 to move to the robot work floor, and transmits the car call to the control of the elevator / robot cooperation device 2 via the communication section 11. The robot reference floor is, for example, a floor provided with a charging station (an example of a charger) capable of charging the robot 1.

[0029] Further, in a case where an execution instruction of a robot call return operation is transmitted from the elevator / robot cooperation device 2, the robot control section 12 generates a car call for causing the robot 1 to move from a robot exit floor to the robot reference floor, and transmits the generated car call to the control of the elevator / robot cooperation device 2 via the communication section 11.

[0030] In addition, in the present embodiment, an example in which the robot control section 12 is provided inside the robot 1 is cited, but the present application is not limited thereto. The robot control section 12 can be provided, for example, in a device outside a communication device or the like provided at each floor in a building.

[0031] The elevator / robot cooperation device 2 (an example of a control device) is provided, for example, in a server or an on-premise server not shown on a cloud, and controls each action of the robot 1 and the car 5 by transmitting an instruction to each of the robot 1 and the car 5. In addition, the elevator / robot cooperation device 2 can be provided in the robot 1 or in the elevator control panel 3 or the like.

[0032] The elevator / robot cooperation device 2 includes a robot communication section 21, a storage section 22, an elevator / robot control section 23, and an elevator communication section 24.

[0033] The robot communication section 21 communicates with the communication section 11 of the robot 1. The storage section 22 stores elevator rest floor information 221, robot reference floor information 222, and robot floor exit information 223, and the like.

[0034] In the elevator rest floor information 221, information of a floor at which the car 5 stops at the time of rest operation of the elevator is written. In the robot reference floor information 222, information of a robot reference floor is written. In addition, in the robot reference floor, a floor other than a floor in which a charging station is provided, such as a floor in which a garbage disposal site in which garbage collected by the robot 1 performing cleaning is disposed is provided, can be set.

[0035] In the robot floor exit information 223, information of a floor (robot floor exit floor) from which the robot 1 exits from the car 5 in order to perform a job such as cleaning or carrying of goods is written. The information of the robot floor exit floor is transmitted from the communication section 31 of the elevator control panel 3.

[0036] The elevator / robot control section 23 (an example of an elevator / robot cooperation section) generates an instruction for controlling the action of the robot 1 based on information received from the robot 1 via the robot communication section 21, and outputs to the robot communication section 21. In addition, the elevator / robot control section 23 generates an instruction for controlling the action of the car 5 based on information received from the elevator control panel 3 via the elevator communication section 24, and outputs to the elevator communication section 24.

[0037] For example, the elevator / robot control section 23 generates an instruction for causing the robot 1 to move from a robot standby position to a job site of a robot job floor to perform a service based on a schedule set in advance or the like, and transmits the instruction to the robot 1 via the robot communication section 21. In addition, the elevator / robot control section 23 generates a car call for causing the robot 1 to move from the robot reference floor to the robot job floor, and transmits the car call to the elevator control panel 3. Then, after the exit of the robot 1 is confirmed, the elevator / robot control section 23 writes information of the robot floor exit floor in the robot floor exit information 223 of the storage section 22.

[0038] Further, the elevator / robot control section 23 reads out the robot floor to exit information 223 and the robot reference floor information 222 from the storage section 22, compares the floors indicated by the two information with each other, in a case where a signal indicating that the stop switch 41 provided in the waiting hall 4 is turned on (hereinafter, also referred to as stop switch on signal) is received from the elevator control panel 3. Further, the elevator / robot control section 23 transmits an execution instruction of the robot call return operation to the robot 1 and the elevator control panel 3, respectively, in a case where the robot floor to exit and the robot reference floor do not coincide with each other.

[0039] Specifically, as the execution instruction of the robot call return operation, the elevator / robot control section 23 generates and transmits a robot call return instruction to the robot 1. The robot call return instruction is an instruction to make the robot 1 interrupt the work, move to the position of the elevator (car 5), exit from the car 5 after moving to the elevator reference floor while riding on the arrived car 5, and move to the standby position of the robot 1.

[0040] Further, as the execution instruction of the robot call return operation, the elevator / robot control section 23 generates and transmits a car call to the elevator control panel 3 to make the car 5 move to the robot floor to exit. Then, the elevator / robot control section 23 executes the standstill operation of the elevator after confirming the exit of the robot 1, makes the car 5 move to the elevator standstill floor, generates an instruction to stop the elevator, and transmits it to the elevator control panel 3. Further, in the execution of the robot call return operation, the elevator / robot control section 23 also performs the control not to accept either of the waiting hall call and the car call to the elevator control panel 3.

[0041] Further, the elevator / robot control section 23 transmits a notification instruction to notify the passenger of the meaning that the standstill operation is shifted after the execution of the robot call return operation to the elevator control panel 3 before the execution of the robot call return operation.

[0042] The elevator communication section 24 communicates with the communication section 31 of the elevator control panel 3.

[0043] The elevator control panel 3 (an example of an elevator control device) is provided in the inside of the machine room or the hoistway of the elevator, etc. not shown, and controls the movement of the car 5. The elevator control panel 3 includes a communication section 31, an elevator control section 32, a notification section 33, and an input section 34.

[0044] The communication section 31 communicates with the elevator communication section 24 of the elevator / robot cooperation device 2. The elevator control section 32 controls the ascending and descending movement of the car 5 based on the car call input from the car interior destination floor registration device not shown in the car 5, or the waiting hall call input from the waiting hall destination floor registration device not shown in the waiting hall 4, etc.

[0045] For example, the elevator control portion 32 performs control to move the car 5 from the robot reference floor to the robot work floor, based on the car call transmitted from the elevator / robot cooperation device 2 via the elevator communication portion 24. Also, for example, the elevator control portion 32 performs control to move the car 5 to the robot exit floor and move the robot 1 riding on the car 5 to the robot reference floor, based on the car call transmitted from the elevator / robot cooperation device 2 at the time of execution of the robot call return operation. Also, for example, the elevator control portion 32 performs control to move the car 5 from the robot reference floor to the elevator rest floor and stop the elevator, after the robot call return operation ends.

[0046] Further, the elevator control portion 32 performs control of the opening / closing door 52 based on a detection signal of various sensors not shown in the car 5, a detection result of a push operation of an opening button or a closing button not shown, and the like.

[0047] The notification portion 33 performs control to cause a broadcast indicating the meaning that the operation shifts to the rest operation after the execution of the robot call return operation to be played from the speaker 512 of the notification device 51 in the car 5, based on a notification instruction transmitted from the elevator / robot cooperation device 2. Alternatively, the notification portion 33 performs control to cause the display device 511 of the notification device 51 to display a message indicating the meaning that the operation shifts to the rest operation after the execution of the robot call return operation. The broadcast and the message can be notified at the same time, or only one of them can be notified.

[0048] The input portion 34 receives a parking switch on signal indicating that the parking switch 41 is on or a parking switch off signal indicating that the parking switch 41 is off, and outputs the received signals to the elevator control portion 32. Then, the elevator control portion 32 transmits the received signals to the elevator / robot cooperation device 2 via the communication portion 31.

[0049] The parking switch 41 provided in the hall 4 is a switch capable of switching on or off of the parking operation by an operation of rotating clockwise or counterclockwise by inputting a key not shown. The parking switch 41 generates the parking switch on signal or the parking switch off signal and transmits it to the elevator control panel 3, in a case where such an operation of input is detected.

[0050] Further, in the present embodiment, a mode of switching on or off of the parking operation by making the parking switch 41 on or off is exemplified, but the present application is not limited thereto. The on or off of the parking operation can be set, for example, by an operation of a portable terminal held by a maintenance person, an operation of a terminal device provided in a monitoring center not shown, and the like.

[0051] The car 5 carries a passenger, the robot 1, or cargo, and the like, and performs a hoisting operation in a hoisting passage not shown. The car 5 includes a notification device 51 and a door 52. The notification device 51 is provided with a display device 511 composed of a liquid crystal panel or an organic electroluminescence panel, and a speaker 512.

[0052] <Hardware structure example of computer>

[0053] Next, the structure of the control system (hardware structure) of each device (the robot 1, the elevator / robot cooperation device 2, the elevator control panel 3) of the elevator system 100 shown in FIG. 1 will be described with reference to FIG. 2. Figure 2 The control system of each device of the elevator system 100 shown in FIG. 1 is composed of a computer 200, a robot 1, an elevator / robot cooperation device 2, and an elevator control panel 3. Figure 1 The structure of the control system (hardware structure) of each device (the robot 1, the elevator / robot cooperation device 2, the elevator control panel 3) of the elevator system 100 shown in FIG. 1 will be described with reference to FIG. 2.

[0054] Figure 2 FIG. 2 is a block diagram showing a hardware structure example of each device constituting the elevator system 100. Figure 2 The computer 200 shown in FIG. 2 is hardware used as a so-called computer.

[0055] The computer 200 is provided with a CPU (Central Processing Unit) 201, a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, a nonvolatile memory 204, and a communication I / F (Interface) 205, which are connected to a bus B, respectively.

[0056] The CPU 201 reads out a program code of software for realizing each function related to the present embodiment from the ROM 202 and expands and executes it in the RAM 203. Alternatively, the CPU 201 directly reads out a program code from the ROM 202 and directly executes it. In addition, the computer 200 can be provided with a processing device such as an MPU (Micro-Processing Unit) instead of the CPU 201. In the RAM 203, variables and parameters, and the like, which are generated in the middle of the operation processing of the CPU 201, are temporarily written.

[0057] Each function of the robot control section 12 of the robot 1, the elevator / robot control section 23 of the elevator / robot cooperation device 2, the elevator control section 32, the notification section 33, and the input section 34 of the elevator control panel 3 is realized by the CPU 201 reading out and executing a program for realizing each function from the ROM 202.

[0058] As the non-volatile memory 204, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), a flexible disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a non-volatile memory card, or the like can be used. In the non-volatile memory 204, in addition to an OS (Operating System) and various parameters, a program and the like for causing the computer 200 to function are recorded. The function of the storage section 22 of the elevator / robot cooperation device 2 is realized by the non-volatile memory 204.

[0059] In addition, the program can also be stored in the ROM 202. The program is stored in the form of a program code that is readable by the computer, and the CPU 201 sequentially executes actions according to the program code. That is, the ROM 202 or the non-volatile memory 204 is used as an example of a non-transitory recording medium that is readable by a computer and in which a program executed by the computer is stored.

[0060] The communication I / F 205 is constituted by a communication device or the like that controls communication with other devices. In a network in which the communication I / F 205 performs communication control, for example, there are a multi-drop serial communication such as RS-485, an Ethernet (registered trademark) that provides a plurality of topologies of communication paths. In the communication paths that provide a plurality of topologies, there are a wired communication path such as a LAN (Local Area Network), a WAN (Wide Area Network), a wireless communication path such as a RAN (Radio Area Network), and the like.

[0061] In addition, for example, in the network in which the communication I / F 205 performs communication control, there are wireless and the like in a wireless communication infrastructure such as Wi-Fi (registered trademark). The function of the communication section 11 of the robot 1, the elevator communication section 24 of the elevator / robot cooperation device 2, and the communication section 31 of the elevator control panel 3 is realized by the communication I / F 205.

[0062] <Processing of the elevator system at the time of robot work>

[0063] Next, with reference to Figure 3 The processing of the elevator system 100 at the time of work of the robot 1 will be described. Figure 3 is an example of a flowchart that shows the order of the processing of the elevator system 100 at the time of work of the robot 1.

[0064] First, the robot control unit 12 of robot 1 generates a car call to move robot 1 to the robot's working floor based on a pre-set schedule, and sends the car call to the elevator / robot collaboration device 2 (step S1). Alternatively, the car call may be generated by the elevator / robot collaboration device 2 instead of robot 1.

[0065] Next, the robot communication unit 21 of the elevator / robot collaboration device 2 outputs the received car call to the elevator / robot control unit 23 (step S2). Then, the elevator / robot control unit 23 sends the input car call to the elevator control panel 3 via the elevator communication unit 24 (step S3).

[0066] Next, the communication unit 31 of the elevator control panel 3 outputs the received car call to the elevator control unit 32 (step S4). Then, based on the input car call, the elevator control unit 32 controls the car 5 to move to the robot reference floor and opens the door 52 of the car 5 upon arrival at the robot reference floor (step S5). For example, if the robot reference floor is floor 1 and the car 5 is on floor 2, by performing step S5, the car 5 moves from floor 2 to floor 1, and the door 52 of the car 5 opens upon arrival at floor 1.

[0067] Next, after confirming that the robot 1 has boarded the car 5, the elevator control unit 32 closes the door 52 of the car 5, moves the car 5 to the robot's working floor, and controls the door 52 of the car 5 to open after reaching the robot's working floor (step S6). For example, if the robot's working floor is the 3rd floor, by performing step S6, the car moves from the 1st floor to the 3rd floor, and the door 52 of the car 5 opens after reaching the 3rd floor.

[0068] Next, after confirming that the robot 1 has descended from the car 5, the elevator control unit 32 controls the closing of the car 5 door (step S7). Then, the elevator control unit 32 sends information about the floor the robot 1 descended to, i.e., the floor the robot descended from (in this case, the 3rd floor), to the elevator / robot collaboration device 2 via the communication unit 31 (step S8).

[0069] Next, the elevator communication unit 24 of the elevator / robot collaboration device 2 outputs the received information about the robot's next floor to the elevator / robot control unit 23 (step S9). Then, the elevator / robot control unit 23 stores the input information about the robot's next floor in the storage unit 22 (write robot next floor information 223) (step S10). After the processing in step S10, the processing of the elevator system 100 during robot 1's operation ends.

[0070] Handling of elevator systems during periods of inactivity and relocation

[0071] Next, refer toFigure 4 The processing of the elevator system 100 at the time of the transition to the standstill operation of the elevator will be described. Figure 4 is a flowchart showing an example of the sequence of the processing of the elevator system 100 at the time of the transition to the standstill operation of the robot 1.

[0072] First, the input section 34 of the elevator panel 3 determines whether the stop switch 41 is on (whether a stop switch on signal is input) (step Sll). In a case where it is determined in step Sll that the stop switch 41 is not on (in a case where step Sll is determined as "No"), the input section 34 continues the determination of step Sll.

[0073] On the other hand, in a case where it is determined in step Sll that the stop switch 41 is on (in a case where step Sll is determined as "Yes"), the input section 34 outputs the stop switch on signal to the elevator control section 32 (step S12). Next, the elevator control section 32 transmits the input stop switch on signal to the elevator / robot cooperation device 2 via the communication section 31 (step S13). Next, the elevator communication section 24 of the elevator / robot cooperation device 2 outputs the received stop switch on signal to the elevator / robot control section 23 (step S14).

[0074] Next, the elevator / robot control section 23 determines whether the robot floor to alight and the robot reference floor are identical (step S15). The processing of step S15 can be performed by the elevator / robot control section 23 comparing the information of the robot floor to alight read out from the storage section 22 and the information of the robot reference floor.

[0075] In step S15, in a case where it is determined that the robot floor to alight and the robot reference floor are the same floor (in a case where step S15 is determined as "Yes"), the elevator / robot cooperation device 2 and the elevator panel 3 perform a standstill operation control process (step S16). With regard to the standstill operation control process, refer to the description of the standstill operation control process described later. Figure 6 will be described in detail. After the processing of step S16, the robot call return operation control process is ended by the elevator system 100.

[0076] On the other hand, in a case where it is determined in step S15 that the robot floor on which the robot descended is not the same floor as the robot reference floor (in a case where the determination in step S15 is "No"), the elevator / robot control section 23 generates a call reception suspension instruction, and transmits the call reception suspension instruction to the elevator control panel 3 via the elevator communication section 24 (step S17). The call reception suspension instruction is an instruction to instruct suspension of reception of both a hall call from an unillustrated hall floor destination registration device located in the hall 4 and a car call from an unillustrated car interior destination registration device inside the car 5. In the elevator control panel 3 that receives this instruction, control to suspend reception of both the hall call and the car call is performed.

[0077] Next, the elevator / robot control section 23 generates an execution instruction of the notification, and transmits the execution instruction of the notification to the elevator control panel 3 via the elevator communication section 24 (step S18). The execution instruction of the notification generated and transmitted in step S18 is an instruction to notify the passengers in the car 5 of the meaning that the elevator is shifted to the elevator standstill operation after the robot call return operation ends.

[0078] Next, the communication section 31 of the elevator control panel 3 outputs the received execution instruction of the notification to the elevator control section 32 (step S19). Next, the elevator control section 32 outputs the input execution instruction of the notification to the notification section 33 (step S20). Next, the notification section 33 performs control to notify the passengers in the car 5 of the meaning that the elevator is shifted to the elevator standstill operation after the robot call return operation ends, by a broadcast or a message from the notification device 51 (the display device 511 and / or the speaker 512) inside the car 5 (step S21).

[0079] Next, the robot call return operation control processing is performed (step S22). The robot call return operation control processing of step S22 will be described in detail with reference to the flowchart of Fig. 6. Figure 5 Next, the elevator standstill operation control processing of step S16 is performed by the elevator control panel 3.

[0080] <Robot Call Return Operation Control Processing>

[0081] Next, the robot call return operation control processing of step S21 of Fig. 5 will be described with reference to the flowchart of Fig. 6. Figure 5 Figure 4 Figure 5 is a flowchart indicating an example of steps of the robot call return operation control processing of the present embodiment.

[0082] ​​First, the elevator / robot control section 23 of the elevator / robot cooperative device 2 generates a robot call return operation execution instruction indicating execution of the call return operation of the elevator, and transmits the robot call return operation execution instruction to the elevator control panel 3 via the elevator communication section 24 (step S31). Next, the communication section 31 of the elevator control panel 3 outputs the received robot call return operation execution instruction to the elevator control section 32 (step S32).

[0083] Next, the elevator control section 32 performs control to move the car 5 to the robot floor to exit from, and open the door 52 of the car 5 after reaching the robot floor to exit from, based on the input robot call return operation execution instruction (step S33).

[0084] Next, the elevator control section 32 performs control to close the door 52 of the car 5 after confirming that the robot 1 has boarded the car 5, move the car 5 to the robot reference floor, and open the door 52 of the car 5 after reaching the robot reference floor (step S34).

[0085] Next, the elevator control section 32 performs control to close the door 52 of the car 5 after confirming that the robot 1 has exited from the car 5 (step S35). Next, the elevator control section 32 transmits to the elevator / robot cooperative device 2 via the communication section 31 that the call return operation of the robot 1 has been completed (step S36). After the processing of step S36, the robot call return operation control processing ends.

[0086] <Elevator Standstill Operation Control Processing>

[0087] Next, the elevator standstill operation control processing of step S16 of the elevator / robot cooperative device 2 will be described with reference to Figure 6 to Figure 4 will be described. Figure 6 is a flowchart showing an example of steps of the elevator standstill operation control processing according to the present embodiment. First, the elevator / robot control section 23 generates a standstill operation shift instruction indicating a shift to the elevator standstill operation, and transmits the instruction to the elevator control panel 3 via the elevator communication section 24 (step S41).

[0088] Next, the communication section 31 of the elevator control panel 3 outputs the received standstill operation shift instruction to the elevator control section 32 (step S42). Next, the elevator control section 32 performs control to execute the standstill operation, move the car 5 to the elevator standstill floor (for example, the 1st floor, etc.), and make the elevator standstill (step S43). After the processing of step S43, the elevator standstill operation control processing ends.

[0089] In the embodiment described above, the elevator / robot control section 23 of the elevator / robot cooperation device 2 compares the robot floor of alighting and the robot standby floor in the case where the information indicating that the elevator shifts to the rest operation (parking switch contact signal) is received from the elevator control panel 3, and in the case where the two floors are different, sends the execution instruction of the robot call return operation for returning the robot 1 to the robot standby floor to the elevator control panel 3. Then, the elevator / robot control section 23 executes the elevator rest operation after detecting that the robot call return operation is completed. Therefore, according to the embodiment, since the call return operation is executed before the rest operation is executed, it is possible to prevent the robot 1 from being left to a floor other than the robot reference floor in the elevator rest operation.

[0090] In addition, in the embodiment described above, the elevator / robot control section 23 sends the call acceptance suspension instruction, which suspends the acceptance of both the hall call and the car call, to the elevator control panel 3 via the elevator communication section 24 in the implementation of the robot call return operation. Therefore, according to the embodiment, it is possible to prevent the car 5 from moving to a floor other than the robot floor of alighting or the robot reference floor in accordance with the hall call or the car call in the robot call return operation of the robot 1.

[0091] In addition, in the embodiment described above, the notification section 33 of the elevator control panel 3 performs the control for notifying the meaning indicating that the shift to the elevator rest operation is performed after the execution of the robot call return operation from the notification device 51 in the car 5 in the case where the execution instruction of the robot call return operation is sent from the elevator / robot control section 23. Therefore, according to the embodiment, the passenger in the car 5 that performs the robot call return operation of the robot 1 can grasp in advance that the call return operation of the robot 1, the elevator rest operation, and the like are executed.

[0092] In addition, the notification described above can not be performed, and the control for shifting to the call return operation of the robot 1 can be performed after detecting that all the passengers in the car 5 that is the object of the robot call return operation alight.

[0093] In addition, in the embodiment described above, the robot reference floor is a floor where the not-shown charging station (charger) of the robot 1 is provided. Therefore, according to the embodiment, the robot 1 can move to the robot reference floor where the charging station is located before shifting to the elevator rest operation, and thus it is possible to prevent the charging of the robot 1 from being interrupted due to being left to another floor where the charging station is not provided.

[0094]

[0095] ​Further, in a case where an instruction is made by the operator of the parking switch 41 (an instruction giver of the idle operation) to indicate the intention not to perform the robot call return operation before the transition to the idle operation, control can be performed to transition to the elevator idle operation without performing the robot call return operation. Figure 7 is a flowchart showing an example of the sequence of the process of the elevator system 100 at the time of the transition to the idle operation of the modification example.

[0096] Figure 7 The process of steps S51 to S61 of Figure 4 The process of steps S11 to S21 of

[0097] After the control of the notification from the notification device 51 in the car 5 to the passengers in the car 5 is performed by the notification section 33 in step S61, the elevator / robot control section 23 of the elevator / robot cooperation device 2 determines whether a signal not to allow the execution of the robot call return operation (an instruction to not perform the call return operation) is input (step S62).

[0098] The signal not to allow the execution of the robot call return operation is input to the input section 34 of the elevator control panel 3 in a case where the parking switch 41 is turned on again after being temporarily turned off. Further, the signal not to allow the execution of the robot call return operation can be generated based on other operations with respect to the parking switch 41 and operations with respect to a portable terminal held by a maintenance staff, and the like.

[0099] After that, the signal not to allow the execution of the robot call return operation is transmitted to the elevator / robot cooperation device 2 by the elevator control section 32 via the communication section 31, and is output to the elevator / robot control section 23 from the elevator communication section 24 of the elevator / robot cooperation device 2.

[0100] In a case where it is determined that the signal not to allow the execution of the robot call return operation is not input in step S62 (in a case where the determination in step S62 is "No"), the robot call return operation control process is performed (step S63). Next, the elevator idle operation control process is performed (step S56). After the process in step S56, the process of the elevator system 100 at the time of the transition to the idle operation of the modification example ends.

[0101] On the other hand, in a case where it is determined that the signal not to allow the execution of the robot call return operation is input in step S62 (in a case where the determination in step S62 is "Yes"), the elevator idle operation control process is performed (step S56). That is, in a case where the signal not to allow the execution of the robot call return operation is input, the robot call return operation is not performed, and the transition to the elevator idle operation is performed.

[0102] According to the present modification, in a case where the person in charge of the elevator standstill operation does not want the robot 1 to perform the call return operation before the elevator standstill operation is performed, the transition to the standstill operation is made without performing the robot call return operation, so the elevator can be operated in a manner desired by the person in charge of the standstill operation.

[0103] In addition, the embodiments described are detailed and specific embodiments of the structure of the device and the system for easy understanding of the present application, and are not limited to necessarily having all the structures described.

[0104] In addition, in Figure 1 In the drawings, control lines or information lines indicated by solid double arrows or single arrows represent only those necessary for explanation, and not all control lines or information lines are necessarily indicated on the product. In fact, it can be considered that almost all the structures are connected to each other.

[0105] In addition, in the present specification, the processing steps of the time series processing include not only the processing in the time series in the order described, but of course not necessarily in the time series, but also processing performed in parallel or individually (for example, parallel processing or object-based processing).

[0106] Further, each of the components of the elevator system according to the embodiment of the present application can be installed in any hardware as long as each hardware can transmit and receive information to and from each other via a network. In addition, the processing performed by each processing unit can be implemented by one hardware or by distributed processing based on a plurality of hardware.

[0107] Explanation of reference numerals

[0108] 1 … robot, 2 … elevator / robot cooperation device, 3 … elevator control panel, 5 … car, 12 … robot control unit, 22 … storage unit, 23 … elevator / robot control unit, 32 … elevator control unit, 33 … notification unit, 34 … input unit, 41 … stop switch, 51 … notification device, 100 … elevator system.

Claims

1. A control device that controls, in communication with each of an elevator control device that controls an operation of an elevator and a robot that moves in a building by using the elevator, characterized by comprising: the elevator control device that has: an elevator / robot cooperation section that, in a case where information indicating that the elevator shifts to a standstill operation is received from the elevator control device, compares a floor on which the robot alights from the elevator, i.e., a robot alighting floor, and a floor on which the robot stands by, i.e., a robot standing-by floor, and in a case where the two floors are different, transmits an execution instruction of a robot call return operation that returns the robot to the robot standing-by floor to the elevator control device, and after detecting that the robot call return operation is completed, transmits an execution instruction of the standstill operation to the elevator control device, the elevator / robot cooperation section that, in a case where information indicating that the robot call return operation before the shift to the standstill operation is not allowed to be executed is received, performs control that does not execute the robot call return operation and executes the standstill operation.

2. The control device according to claim 1, characterized in that the execution instruction of the robot call return operation is an instruction that moves a car of the elevator to the robot alighting floor after the robot boards the car, and moves the car to the robot standing-by floor.

3. The control device according to claim 2, characterized in that the elevator / robot cooperation section, in the implementation of the robot call return operation, transmits an instruction that also suspends acceptance of any one of a hall call registered from a hall destination layer registration device of a hall and a car call registered from a car-in destination layer registration device inside the car to the elevator control device.

4. The control device according to claim 3, characterized in that the elevator / robot cooperation section, in a case where the execution instruction of the robot call return operation is transmitted, performs control on a notification section that controls a notification action by a notification device provided inside the car of the elevator, from the notification device, to notify that the intention to shift to the standstill operation after the execution of the robot call return operation.

5. The control device according to any one of claims 1 to 4, characterized in that the robot standing-by floor is a floor on which a charger of the robot is provided.

6. An elevator system that has an elevator control device that controls an operation of an elevator, a robot control device that controls an operation of a robot that moves in a building by using the elevator, and a control device that controls, in communication with each of the elevator control device and the robot control device, characterized by comprising: ​ ​ ​ ​ ​ ​ ​ The control device is provided with: an elevator / robot cooperation section that, in a case where information indicating that the elevator is shifted to a standstill operation is received from the elevator control device, compares a floor on which the robot alights from the elevator, i.e., a robot alighting floor, and a floor on which the robot is to be on standby, i.e., a robot standby floor, and in a case where the two floors are different, transmits an execution instruction of a robot call return operation that returns the robot to the robot standby floor to the elevator control device, and, after detecting that the robot call return operation is completed, transmits an execution instruction of the standstill operation to the elevator control device, The elevator / robot cooperation section, in a case where information indicating that the robot call return operation before the shift to the standstill operation is not allowed to be executed is received, performs control to execute the standstill operation without executing the robot call return operation.

7. A control method of a control device that performs control in communication with an elevator control device that controls the operation of an elevator and a robot that moves within a building using the elevator, characterized by The method includes the steps of: in a case where information indicating that the elevator is shifted to a standstill operation is received from the elevator control device, comparing a floor on which the robot alights from the elevator, i.e., a robot alighting floor, and a floor on which the robot is to be on standby, i.e., a robot standby floor, and in a case where the two floors are different, transmitting an execution instruction of a robot call return operation that returns the robot to the robot standby floor to the elevator control device, and, after detecting that the robot call return operation is completed, transmitting an execution instruction of the standstill operation to the elevator control device, and an elevator / robot cooperation section that, in a case where information indicating that the robot call return operation before the shift to the standstill operation is not allowed to be executed is received, performs control to execute the standstill operation without executing the robot call return operation.

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