Elevator system and elevator control method

Abstract

The present application provides an elevator system and an elevator control method. In the case where a passenger uses an elevator and the case where a robot uses an elevator, both can appropriately perform operation without reducing utilization efficiency. Provided are: a stop position detection unit (12) that detects whether or not an error of a stop position of a floor of a waiting hall and a floor of a car (1) exceeds a first threshold value and is between a second threshold value; a moving body state monitoring unit (14) that monitors whether or not a moving body (30) is boarded on the car (1); and an elevator operation control unit (11) that, when the moving body (30) is detected to be boarded on the car from information received from the moving body state monitoring unit (14), performs a floor alignment operation that moves the car to become an error smaller than the first threshold value when the error of the stop position detected by the stop position detection unit (12) exceeds the first threshold value and is between the second threshold value.

Description

Technical Field

[0001] This invention relates to elevator systems and elevator control methods. Background Technology

[0002] Modern elevators not only require the transport of passengers but also the transport of autonomous robots. To transport robots, control data is sent from the robot to the elevator system's control unit, specifying the robot's current floor (waiting area) and its desired destination floor (target floor), thus initiating a robot movement request based on the elevator's designation.

[0003] Based on this control data, the control device performs the following control: orients the car toward the floor where the robot is located, and after the robot boards, transports it to the destination floor.

[0004] However, in elevator systems that transport robots by riding in the car, if there is a step difference between the car and the waiting hall when the robot is getting on or off the car, the robot may fall.

[0005] Patent document 1 describes the following technology: In order to prevent elevator users from falling, the step difference between the floor of the elevator car and the floor of the waiting hall is corrected when the car stops.

[0006] Existing technical documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2005-89085 Summary of the Invention

[0008] The conventional step difference correction technology described in Patent Document 1 is a technology that corrects step differences when the car is stopped at a floor and the car door is open.

[0009] The step difference correction technique described in Patent Document 1 is basically a technique for correcting step differences of a maximum of a few centimeters. The step difference is a step difference that, although preferably not present, is permissible in terms of riding and alighting even before the correction is performed.

[0010] On the other hand, in the case of robots boarding and alighting from the car, from the point of view of preventing robots from falling, it is preferable that there is no step difference when the door is opened.

[0011] However, if an elevator stops at all floors while in operation, and step difference corrections are constantly performed at each floor, a considerable amount of time will pass from the moment it stops at each floor until the doors open. In other words, because step difference corrections are always performed from the moment the elevator stops at each floor until the doors open, there is a problem of reduced elevator utilization efficiency due to the time spent before the doors open at each stopping floor.

[0012] On the other hand, without step difference correction, the robot might fall due to the step difference during boarding and alighting, failing to close the car door, or, in the worst case, malfunctioning. Furthermore, the possibility of the elevator being unable to operate until the robot is rescued after a fall is also considered.

[0013] Therefore, without step difference correction, the problem of reduced elevator utilization efficiency and inability to utilize robots will still exist.

[0014] The purpose of this invention is to provide an elevator system and elevator control method that can operate appropriately without reducing utilization efficiency when used by passengers or robots.

[0015] To solve the above problems, for example, the structure described in the patented technical solution may be adopted.

[0016] This application includes several means to solve the above-mentioned problems. One example is an elevator system capable of carrying a moving body, comprising: a stop position detection unit that detects whether the error in the stop position between the floor of the waiting hall and the floor of the car exceeds a first threshold and is within a second threshold; a moving body status monitoring unit that monitors whether the moving body is riding in the car; and an elevator operation control unit that, when detecting from the information received from the moving body status monitoring unit that the moving body is riding in the car, performs floor alignment operation to make the error smaller than the first threshold when the stop position error detected by the stop position detection unit exceeds the first threshold and is within the second threshold.

[0017] According to the present invention, when a mobile body uses an elevator, the floor of the car is aligned with the floor of the waiting hall during operation, thereby preventing the robot from falling during elevator use, preventing a decrease in elevator utilization, and preventing robot malfunction.

[0018] Other issues, structures, and effects not mentioned above will be clarified through the following description of the implementation methods. Attached Figure Description

[0019] Figure 1 This is a structural diagram of an elevator system according to an embodiment of the present invention.

[0020] Figure 2 This is a block diagram illustrating an example of the hardware structure of an elevator control device according to an embodiment of the present invention.

[0021] Figure 3 This is a flowchart illustrating an example of the processing performed when a robot utilizes an embodiment of the present invention.

[0022] Figure 4This is a flowchart illustrating an example of the processing of an elevator control device used by a robot, representing an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached figures

[0024] 1…Car, 1a…Car door, 2…Winch, 4…Pulley, 5…Main hoist, 6…Wait hall door, 7…Position detection plate, 8…Stop position detection device, 9…Rotary encoder, 10…Elevator system, 10a…CPU, 10b…ROM, 10c…RAM, 10d…Non-volatile memory, 10e…Network interface, 10f…Input unit, 11…Elevator operation control unit, 12…Stop position detection unit, 13…Elevator status monitoring unit, 14…Robot status monitoring unit, 15…Remote control unit, 17…Communication unit, 20…Robot control server, 30…Robot. Detailed Implementation

[0025] Hereinafter, an example of an embodiment of the present invention (hereinafter referred to as "this example") of an elevator system and an elevator control method will be described with reference to the accompanying drawings.

[0026] [System Overall Structure]

[0027] use Figure 1 Explain the structure of the elevator system in this example.

[0028] The elevator system in this example includes a car 1, a winch 2, a counterweight 3, pulleys 4, main hoisting cables 5, a waiting hall door 6, a position detection plate 7, a car stop position detection device 8, a rotary encoder 9, and an elevator control device 10.

[0029] The car 1 is connected to the counterweight 3 via the main hoist 5 and moves up and down in the lifting channel driven by the winch 2.

[0030] The main sling 5 is configured to be suspended from the pulley 4, and the counterweight 3 does not contact the car 1.

[0031] The waiting hall door 6 opens and closes in conjunction with the car door 1a located on the car 1 when the car 1 stops.

[0032] Position detection plates 7 are installed on each floor within the elevator shaft. Additionally, a car stop position detection device 8 is installed in the car 1. Furthermore, the car stop position detection device 8 detects the car's position (stop position) on each floor by detecting the position detection plates 7.

[0033] A rotary encoder 9 is installed on the winch 2. The rotary encoder 9 detects the lifting position of the car 1 by measuring the rotational speed of the winch 2.

[0034] The elevator control device 10 includes an elevator operation control unit 11, a car stop position detection unit 12, an elevator status monitoring unit 13, a robot status monitoring unit 14, a remote control unit 15, and a communication unit 17.

[0035] The elevator operation control unit 11 controls the raising and lowering of the car 1, and controls the opening and closing of the car door 1a and the waiting hall door 6. In addition, as described below, the elevator operation control unit 11 also controls and executes floor alignment operation (stop position offset correction operation) to make the floor surface of the car 1 align with the floor surface of the waiting hall.

[0036] The stopping position offset correction operation of car 1 is performed through the following actions.

[0037] That is, if the car 1 stops, the stop position detection unit 12 first performs stop position detection processing based on the detection signal of the car stop position detection device 8 to detect the error between the stop position of the waiting hall floor and the floor of the car 1.

[0038] Specifically, the stop position detection unit 12 detects whether the error in the stop position between the floor of the waiting hall and the floor of the car 1 exceeds a first threshold but falls within a second threshold. The first threshold is a value where the stop position between the floor of the waiting hall and the floor of the car 1 can be considered to have almost no step difference (e.g., a few millimeters). The second threshold is a value where the step difference between the stop positions between the floor of the waiting hall and the floor of the car 1 is a step difference that does not impede passenger boarding and alighting (e.g., 1 cm to a few centimeters).

[0039] Based on the step difference detected by the stop position detection unit 12, the elevator operation control unit 11 adjusts the lifting position of the car 1 when the step difference exceeds a first threshold but is within a second threshold. That is, the elevator operation control unit 11 performs stop position offset correction operation so that the error in the stop position between the floor of the waiting hall and the floor of the car 1 is within the first threshold.

[0040] Furthermore, the situation where the error between the stopping position of the elevator lobby floor and the floor of the car 1 exceeds the second threshold refers to a situation where the stopping position deviates significantly to the point that the car door 1a and the elevator lobby door 6 cannot be opened. Therefore, the elevator operation control unit 11 performs a correction operation different from the stopping position offset correction.

[0041] In this case, regarding the timing of performing the docking position offset correction operation, in Figure 4 The flowchart will be described later.

[0042] The car stop position detection unit 12 detects the stop position of the car 1 based on signals from the car stop position detection device 8 and the rotary encoder 9. The information on the stop position of the car 1 detected by the car stop position detection unit 12 is provided to the elevator operation control unit 11.

[0043] The elevator status monitoring unit 13 communicates with the elevator operation control unit 11 to monitor the stopping position and running status of the car 1.

[0044] The robot status monitoring unit (moving body status monitoring unit) 14 performs moving body status monitoring processing to monitor the position and motion status of the robot 30 operating in the building where the elevator system of this example is installed.

[0045] The remote control unit 15 sends instructions such as a car call registration request for a specific floor to the elevator operation control unit 11.

[0046] The communication unit 17 communicates with the robot control server 20 via a predetermined network NW.

[0047] The robot control server 20 communicates with the robot 30 via the network NW, receiving request instructions from the robot 30, sending standby instructions to the robot 30, and thereby controlling the operation of the robot 30.

[0048] Robot 30 moves autonomously within the building equipped with the elevator system described in this example, performing various actions. For example, robot 30 could be a cargo delivery robot, a guiding robot, a cleaning robot, a monitoring robot, etc. In this example, robot 30 in the elevator system is controlled to move according to instructions from the robot control server 20. While moving, robot 30 can utilize the elevator.

[0049] [Example of elevator control device hardware structure]

[0050] Figure 2 This section describes the hardware structure of the computer that constitutes the elevator control device 10 in this example.

[0051] Figure 1 The elevator control device 10 shown can be, for example, composed of a computer as an information processing device.

[0052] That is, the computer that serves as the elevator control device 10 includes: a processor, namely CPU (Central Processing Unit) 10a, ROM (Read Only Memory) 10b, RAM (Random Access Memory) 10c, and non-volatile memory 10d.

[0053] As a non-volatile memory 10d, for example, HDD (Hard Disk Drive), SSD (Solid State Drive), or semiconductor memory is used.

[0054] In addition, the computer has a network interface 10e for sending and receiving data with other devices and an input unit 10f for inputting various information.

[0055] CPU 10a executes the program stored in ROM 10b or non-volatile memory 10d on RAM 10c, thus constituting Figure 1 The elevator operation control unit 11 and other processing units shown are illustrated.

[0056] In addition to storing the program for controlling the elevator control device 10, the non-volatile memory 10d also stores information such as the control status of the elevator and the motion status of the robot 30. The program for correcting the stopping position offset of the car 1 is also stored in the non-volatile memory 10d.

[0057] The network interface 10e has communication capabilities with the robot control server 20, etc.

[0058] The input unit 10f receives information from the control panel of the car 1, signals from the car stop position detection device 8 and the rotary encoder 9.

[0059] [Handling during robot boarding and alighting]

[0060] Next, the control processing of robot 30 when using the elevator car 1 of this example elevator system will be explained.

[0061] Figure 3 This is a flowchart illustrating the process of robot 30 and robot control server 20 when robot 30 enters and exits car 1.

[0062] First, the robot 30 that arrives at the elevator waiting hall sends an elevator utilization request to the robot control server 20, which includes the robot 30's boarding floor and destination floor, as well as the identification ID information of the elevator (car) to be utilized (step S11).

[0063] Upon receiving an elevator utilization request from robot 30, robot control server 20 identifies the elevator control device 10 of car 1 to be utilized by robot 30 based on the identification ID contained in the received elevator utilization request. Then, robot control server 20 sends an elevator utilization request to the identified elevator control device 10. At this time, robot control server 20 maintains the data of the robot's ascending and descending floors contained in the elevator utilization request.

[0064] The communication unit 17 receives an elevator utilization request from the robot control server 20 and sends the request to the remote control unit 15. The remote control unit 15 provides the received elevator utilization request to the elevator operation control unit 11 (step S12), and the elevator operation control unit 11 starts the operation of the car 1.

[0065] After sending an elevator utilization request to the elevator operation control unit 11, the remote control unit 15 sends an elevator status check command to the elevator status monitoring unit 13.

[0066] When the elevator status monitoring unit 13 receives the elevator status check instruction, it communicates with the elevator operation control unit 11 to obtain the current floor of the car 1, the opening and closing status of the car door 1a installed on the car 1, the stopping status of the car 1, and other elevator operation status.

[0067] Then, the elevator status monitoring unit 13 periodically sends the acquired elevator operating status data to the robot control server 20 via the communication unit 17 (step S13).

[0068] The robot control server 20 determines whether the car 1 has reached the floor where the robot takes off based on the stopping status of the car 1 and the current floor information of the car 1 included in the received elevator operation status (step S14).

[0069] When it is determined in step S14 that the elevator car 1 has reached the floor where the robot takes the elevator (step S14 is yes), the robot control server 20 determines whether the opening of the elevator car 1 is complete (step S15).

[0070] If it is determined in step S14 that the elevator car 1 has not reached the floor where the robot is to board (No in step S14), and if it is determined in step S15 that the opening of the elevator car 1 has not been completed (No in step S15), the robot control server 20 returns to the determination in step S14.

[0071] When it is determined in step S15 that the opening of the car 1 is completed (Yes in step S15), the robot control server 20 sends a ride start command to the robot 30. Upon receiving the ride start command, the robot 30 begins to ride the elevator to the car 1 (step S16).

[0072] After completing the elevator ride to the elevator car 1, the robot 30 sends an elevator ride completion signal to the robot control server 20 (step S17).

[0073] The robot control server 20 sends the elevator ride completion signal received from the robot 30 to the elevator control device 10. When the communication unit 17 of the elevator control device 10 receives the elevator ride completion signal from the robot 30, it sends the elevator ride completion signal to the elevator operation control unit 11 via the remote control unit 15.

[0074] When the elevator operation control unit 11 receives the elevator ride completion signal from the robot 30, it starts the operation of the elevator and causes the car 1 to depart (step S18).

[0075] Next, the robot control server 20 determines whether the car 1 has reached the floor where the robot is going down, based on the elevator operation status received from the elevator control device 10, including the stopping status of the car 1 and the current floor information of the car 1 (step S19).

[0076] When it is determined in step S19 that the car 1 has reached the floor where the robot is going down (step S19 is yes), the robot control server 20 determines whether the opening of the car 1 is completed (step S20).

[0077] If it is determined in step S19 that the car 1 has not reached the floor where the robot is going down (No in step S19), and if it is determined in step S20 that the opening of the car 1 has not been completed (No in step S20), the robot control server 20 returns to the determination in step S19.

[0078] Then, when it is determined in step S20 that the opening of the car 1 is complete (yes in step S20), the robot control server 20 sends a descending start command to the robot 30. Upon receiving the descending start command from the robot control server 20, the robot 30 begins to descend from the car 1 (step S21).

[0079] After robot 30 has finished descending from car 1, it sends a descending completion signal to robot control server 20. Robot control server 20 then sends the descending completion signal of robot 30 to elevator control device 10 (step S22).

[0080] In this way, the robot 30 can board and alight in conjunction with the parking state of the car 1 and the opening and closing state of the door.

[0081] [Handling when using robots in elevator control systems]

[0082] Figure 4 This is a flowchart illustrating an example of the processing performed by the robot 30 in the elevator control device 10.

[0083] The elevator operation control unit 11 checks whether it has received an elevator operation command from the remote control unit 15 (step S31). If an elevator operation command is received in step S31 (yes in step S31), the elevator operation control unit 11 switches the car 1 to robot linkage operation mode (step S32).

[0084] Next, the elevator operation control unit 11 determines whether the current floor of the car 1 detected by the car stop position detection unit 12 is consistent with the robot's boarding floor included in the elevator utilization instruction, and whether the robot's boarding floor has been reached (step S33).

[0085] If it is determined in step S33 that the elevator has not reached the floor where the robot was to board (No in step S33), the elevator operation control unit 11 generates a car call command to the floor where the robot was to board (step S34).

[0086] Furthermore, if it is determined in step S33 that the robot has reached the floor it took in the elevator (Yes in step S33), the elevator operation control unit 11 determines whether it has received a completion signal from the robot 30 (step S35). If a completion signal from the robot 30 is received in step S35 (Yes in step S35), the elevator operation control unit 11 registers the robot's exit floor as the destination floor for a call (step S36).

[0087] If no elevator usage command is received in step S31 (No in step S31), after generating a car call command in step S34, after registering the robot's downstairs floor call as the destination floor in step S36, and if no robot elevator ride completion signal is received in step S35 (No in step S35), the elevator operation control unit 11 checks the call registration status (step S37).

[0088] Next, the elevator operation control unit 11 determines whether there is a call registration (step S38). If there is a call registration in step S38 (yes in step S38), the elevator operation control unit 11 moves the car 1 to the floor where the call was registered (step S39). Then, the elevator operation control unit 11 begins stopping control of the car 1 (step S40).

[0089] After starting the docking control in step S40, and when there is no call registration in step S38 (No in step S38), the elevator operation control unit 11 determines whether it is in robot linkage operation mode (step S41).

[0090] In the case of robot linkage operation mode in step S41 (Yes in step S41), the elevator operation control unit 11 determines whether the car 1 has stopped at the robot's boarding floor or robot's alighting floor (step S42).

[0091] If the elevator stops at the floor where the robot entered or exited the elevator in step S42 (as described in step S42), the elevator operation control unit 11, while keeping the car door 1a and the waiting hall door 6 closed, determines, based on the detection signal from the stop position detection unit 12, whether a stop position offset correction operation is required (step S43). The condition requiring stop position offset correction operation is, as previously explained, when the error in the stop position between the floor of the waiting hall and the floor of the car 1 exceeds a first threshold but falls within a second threshold.

[0092] When a stop position offset correction operation is required in step S43 (Yes in step S43), the elevator operation control unit 11 performs the stop position offset correction operation with the car door 1a and the waiting hall door 6 in the closed state (step S44).

[0093] After the stop position offset correction operation is performed in step S44, and when the stop position offset correction operation is not required in step S43 (No in step S43), the elevator operation control unit 11 performs the stop completion process (step S45), starts the opening of the car door 1a and the waiting hall door 6, and completes the door opening (step S46).

[0094] Upon completion of the door opening, the communication unit 17 of the elevator system 10 in this example sends a notification of door opening completion to the robot control server 20. Here, when the robot 30 is descending from the car 1, the robot control server 20 instructs the robot 30 to descend from the car 1.

[0095] On the other hand, if the robot is not in the robot linkage operation mode in step S41 (No in step S41), and if the elevator stops at a floor other than the robot's boarding floor and alighting floor in step S42 (No in step S42), the elevator operation control unit 11 starts to open the car door 1a and the waiting hall door 6 (step S47).

[0096] Then, the elevator operation control unit 11 determines whether the elevator is in a state where a stop position offset correction is required based on the detection signal from the stop position detection unit 12 (step S48).

[0097] When a stop position offset correction operation is required in step S48 (Yes in step S48), the elevator operation control unit 11 performs a stop position offset correction operation (step S49).

[0098] After the stop position offset correction operation is performed in step S49, and when the stop position offset correction operation is not required in step S48 (No in step S48), the elevator operation control unit 11 performs the stop completion process (step S50).

[0099] [Effects of this implementation example]

[0100] As explained above, in this example elevator system, the robot 30 performs a stop position offset correction operation before the door opens during boarding and alighting. Therefore, the robot 30 can reliably board and alight when there is no step difference between the car 1 and the waiting hall. This effectively prevents the robot 30 from boarding and alighting and falling when there is a step difference between the car 1 and the waiting hall.

[0101] In addition, when the elevator stops at a floor that is not the floor where the robot takes off or goes down, it prioritizes opening the door and then performs a stop position offset correction. Therefore, opening the door quickly after stopping can shorten the time before the door opens and enable the elevator to operate efficiently.

[0102] In particular, in the elevator system of this example, the operating mode is the robot linkage operation mode. When the robot 30 is riding in the car 1, or when it wants to ride or alight, the stopping position offset correction operation is performed before the door opens. Therefore, it can reliably operate at different floors when the robot 30 rides or alights.

[0103] Furthermore, after the elevator operation control unit outputs the door opening completion instruction from the car's descending position, the robot control server 20 performs the descending process from the car. Thus, when the door opening is completed in an appropriate stopping position, the robot 30 can smoothly descend from the car 1.

[0104] Furthermore, in non-robot linkage operation mode, that is, when the position of robot 30 monitored by the mobile body status monitoring unit 14 is not inside the car 1, and when robot 30 does not want to ride in the car 1, after giving the door opening instruction, it will perform floor alignment operation, thereby enabling the door to be opened quickly when passengers board and alight.

[0105] Furthermore, even when a moving object scheduled to be boarded is detected on the stopping floor, by issuing a door opening instruction for the car after the floor alignment operation is completed, the robot 30 can perform a stop position offset correction operation before the door opens when boarding the car 1, thus enabling appropriate control.

[0106] [Variation Example]

[0107] Furthermore, the embodiments described so far have been explained in detail for the purpose of easily understanding the present invention, and are not necessarily limited to having all the structures described. In addition, the structures and processes described in the above-described embodiments can be modified and altered in various ways.

[0108] For example, in the embodiment described above, robot 30 performs autonomous movements based on instructions from robot control server 20. Alternatively, robot 30 can also perform autonomous movements directly on its own, with elevator control device 10 communicating with robot 30. In this case, robot 30 performs actions such as boarding the elevator car 1 based on instructions from elevator control device 10, such as door opening completion.

[0109] Furthermore, in the example of the above-described embodiment, the case of an autonomously moving robot 30 using an elevator was described, but the present invention can also be applied to the case of a mobile body other than a robot using an elevator.

[0110] In addition, in the example of the above implementation, both when the robot 30 is riding in the car 1 and descending the stairs to the destination floor and when the robot 30 is riding in the car 1, the stopping position offset correction operation is performed before the door opens. However, for example, the stopping position offset correction operation may only be performed when the robot 30 is riding in the car 1.

[0111] In addition, Figure 1 In the structure shown, the elevator control device 10 includes a robot status monitoring unit 14, etc., which works in cooperation with the robot to perform processing. However, it can also modify the program of the control device installed in the existing elevator system to perform the same processing.

[0112] Regarding the procedure in this situation, besides... Figure 2 In addition to being stored in the computer's internal non-volatile memory or memory, the data can also be transferred to external storage media such as IC cards, SD cards, and optical discs.

[0113] Furthermore, the elevator control device 10 can also be implemented in part or in whole using dedicated hardware such as FPGA (Field Programmable Gate Array) and ASIC (Application Specific Integrated Circuit).

[0114] In addition, Figure 1 The structural diagram shown only illustrates the control lines and information lines deemed necessary for the description; the actual product may not show all control lines and information lines. In practice, almost all structures can be considered interconnected. Furthermore, regarding... Figures 3-4 As shown in the flowchart, if the processing results are the same, the processing order can be changed, or multiple processes can be executed simultaneously.

Claims

1. An elevator system capable of carrying a moving body, characterized in that, The elevator system has the following features: The stop position detection unit detects whether the error in the stop position between the floor of the waiting hall and the floor of the elevator car exceeds a first threshold but is within a second threshold. A mobile body status monitoring unit monitors whether the mobile body is riding in the car; The elevator operation control unit, upon detecting from information received from the moving body status monitoring unit that the moving body is riding in the car, and when the error of the stop position detected by the stop position detection unit exceeds a first threshold but is within a second threshold, performs floor alignment operation to move the car to achieve an error smaller than the first threshold; and The communication unit communicates with the server controlling the mobile body or with the mobile body itself. In the communication of the communication unit, when the mobile body status monitoring unit detects that there is a mobile body scheduled to be boarded at the stop floor, it instructs the elevator operation control unit to perform floor alignment operation. After the floor alignment operation is completed, the elevator operation control unit instructs the elevator car to open its doors.

2. The elevator system according to claim 1, characterized in that, When the moving body status monitoring unit detects that the moving body is in motion, and the stop position detection unit detects that the error between the stop position of the waiting hall floor and the car floor exceeds a first threshold but is within a second threshold, the moving body status monitoring unit instructs the elevator operation control unit to perform floor alignment operation. After the floor alignment operation is completed, the elevator operation control unit instructs the car to open its doors.

3. The elevator system according to claim 2, characterized in that, The elevator system includes a communication unit for communicating with a server that controls the moving body or with the moving body itself. After the communication unit outputs the door opening signal from the elevator operation control unit, it uses the server or the mobile body to process the descent from the elevator car.

4. The elevator system according to claim 1, characterized in that, When the mobile body status monitoring unit detects that the mobile body is not in a state of being boarded, or that the mobile body does not intend to board, the elevator operation control unit, after issuing the door opening instruction for the car, performs the floor alignment operation.

5. The elevator system according to claim 3, characterized in that, During communication within the communication unit, the mobile body status monitoring unit obtains the destination floor of the mobile body in motion, and the elevator operation control unit, after issuing a door opening instruction for the car, performs floor alignment operation when the car stops at a floor other than the destination floor.

6. An elevator control method for controlling an elevator capable of carrying a moving body, characterized in that, The elevator control method includes: The stop position detection process checks whether the error between the stop position of the waiting hall floor and the car floor exceeds a first threshold but is within a second threshold. The mobile body status monitoring process monitors whether the mobile body is riding in the car. The elevator operation control processing, upon detecting in the information received through the moving body status monitoring processing that the moving body is riding in the car, and when the error of the stop position detected by the stop position detection processing exceeds a first threshold but is within a second threshold, performs floor alignment operation to move the car to achieve an error smaller than the first threshold; and Communication processing includes communicating with a server controlling the mobile body or with the mobile body itself. In the mobile body status monitoring process, when the communication process detects that a mobile body to be boarded is present at the stop floor, the elevator operation control process instructs the floor alignment operation to be performed. In the elevator operation control process, after the floor alignment operation is completed, the elevator car door opening instruction is given.

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