Elevator system

Abstract

The embodiment of the invention relates to an elevator system. The invention provides an elevator system which can prevent a service robot from being trapped in a passenger car of an elevator during earthquake control operation. An elevator system according to one embodiment is communicably connected to a moving body that moves in a building in which an elevator is provided, and to an elevator control device that controls the operation of the elevator. The elevator control device comprises a boarding and alighting judgment part which judges whether the moving body is in the elevator or not according to a signal sent by the moving body, namely a boarding signal indicating that the moving body has boarded into the elevator and an alighting signal indicating that the moving body has boarded out of the elevator; and a control unit that, when the occurrence of an earthquake is detected and the boarding / alighting determination unit determines that the moving body is in the elevator, transmits to the moving body a change command for changing the target floor of the moving body to the nearest floor.

Description

[0001] This application is based on Japanese Patent Application No. 2023-211800 (filing date: December 15, 2023) and claims the priority of this Japanese patent application. This application incorporates the entire contents of this Japanese patent application by reference. Technical Field

[0002] An embodiment of the present invention relates to an elevator system. Background Art

[0003] In recent years, it has been considered to provide various services such as a service for transporting (carrying) goods in a building and a service for guarding the building by moving (traveling) a moving body such as an autonomous driving robot (hereinafter referred to as a service robot) in the building.

[0004] In the case where the building in which the service robot moves is, for example, a multi-story building, the service robot can move between multiple floors in the building by using an elevator installed in the building.

[0005] However, an earthquake control operation function (earthquake control operation mode) is installed in the elevator, and this earthquake control operation function is a function of stopping at the nearest floor during an earthquake and allowing the user to get off the elevator at the nearest floor. According to this function, the risk of the user being trapped in the elevator car during an earthquake can be reduced.

[0006] However, even if the elevator reaches the nearest floor through the earthquake control operation function, as long as the nearest floor is not the destination floor of the service robot, the service robot cannot recognize the nearest floor as the floor to get off. Therefore, there is a possibility that the service robot will be trapped in the elevator car. Summary of the Invention

[0007] The problem to be solved by the present invention is to provide an elevator system that can prevent a service robot from being trapped in an elevator car during earthquake control operation.

[0008] An elevator system according to an embodiment is communicably connected to a moving body that moves within a building in which an elevator is provided and an elevator control device that controls the operation of the elevator. The elevator control device includes: a seismic detection unit that detects the occurrence of an earthquake; an embarkation / disembarkation determination unit that determines whether the moving body is inside the elevator based on signals transmitted by the moving body, namely, an embarkation signal indicating that the moving body has boarded the elevator and a disembarkation signal indicating that the moving body has alighted from the elevator; and a control unit that, when the seismic detection unit detects the occurrence of an earthquake, switches from normal operation to earthquake control operation in which the elevator is moved to the nearest floor and the doors of the elevator are controlled to open, and further, when the embarkation / disembarkation determination unit determines that the moving body is inside the elevator, sends a change instruction to the moving body to change the destination floor of the moving body to the nearest floor.

[0009] With the elevator system configured as described above, it is possible to prevent a service robot from being trapped inside the passenger car of the elevator during earthquake control operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 FIG. is a schematic configuration example diagram of an elevator system according to an embodiment.

[0011] Figure 2 FIG. is a flowchart showing an example of the operation of the elevator system in this embodiment.

[0012] Figure 3 FIG. is a diagram for specifically explaining an example of the operation of the elevator system in this embodiment.

[0013] Figure 4 FIG. is a flowchart showing an example of the operation of the elevator system in a modified example. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0014] Hereinafter, embodiments will be described with reference to the drawings.

[0015] In addition, the disclosure is merely an example, and the invention is not limited to the content described in the following embodiments. Modifications that are easily conceivable by those skilled in the art are of course included within the scope of the present disclosure. For more clarity in the description, in the drawings, the dimensions, shapes, etc. of each part may be changed schematically compared to the actual embodiments. In multiple drawings, the same reference numerals are assigned to corresponding elements, and detailed descriptions may sometimes be omitted.

[0016] In the embodiment, in order to provide various services, it is assumed that a moving body moves within a building. The moving body includes, for example, an autonomous mobile robot (hereinafter referred to as a service robot) that provides services such as carrying (transporting) luggage within the building and providing security services for the building.

[0017] Here, in the case where the building in which the service robot moves is a large building or the like having multiple floors (stories), the service robot can move between multiple floors by using, for example, an elevator provided in the building.

[0018] Hereinafter, with reference to Figure 1 , an outline of an elevator system according to one embodiment will be described. As Figure 1 shown, the elevator system includes a passenger car 10 (elevator), a seismic sensor 20, an elevator controller 30, and a service robot 40. In addition, in Figure 1 , a state in which the service robot 40 is riding in the passenger car 10 (a state of the service robot 40 inside the passenger car 10) is shown.

[0019] The seismic sensor 20 includes a P-wave sensor (a sensor that senses initial microtremors) and an S-wave sensor (a sensor that senses the main earthquake), and is provided in a machine room located above the building in which the passenger car 10 is provided, in a pit in the hoistway, and the like. At the moment of sensing the initial microtremors, the seismic sensor 20 sends a sensing signal indicating that the initial microtremors have been sensed to the elevator control device 30.

[0020] The elevator control device 30 is communicably connected to the service robot 40 via a network (public line network) such as the Internet, for example. The elevator control device 30 controls a hoist (not shown) for causing the passenger car 10 to move up and down, controls the opening and closing of the doors, controls various devices (such as lighting) inside the passenger car 10, controls operations in cooperation with the service robot 40, and the like.

[0021] As one of the operations in cooperation with the service robot 40, the elevator control device 30 receives a movement request sent by the service robot 40 and controls the passenger car 10 to respond to the movement request. The movement request is a request indicating that the service robot 40 wishes to move from a floor corresponding to the departure floor to a floor corresponding to the destination floor (destination floor), and includes information indicating the departure floor and the destination floor. The elevator control device 30 controls the passenger car 10 to move from the departure floor indicated by the received movement request to the destination floor.

[0022] As Figure 1 shown, the elevator control device 30 includes: a seismic detection unit 31, an elevator control unit 32, a robot boarding / alighting determination unit 33, and a robot linkage unit 34 (communication unit).

[0023] The seismic detection unit 31 detects the occurrence of an earthquake based on the sensing signal sent by the seismic sensor 20, and outputs a seismic detection signal indicating the detection of the occurrence of the earthquake to the elevator control unit 32.

[0024] The elevator control unit 32 controls the operations of the earthquake detection unit 31, the robot boarding / jetting determination unit 33, and the robot linkage unit 34, and controls the operation of the passenger car 10 based on various signals from the earthquake detection unit 31, the robot boarding / jetting determination unit 33, and the robot linkage unit 34.

[0025] Based on the earthquake detection signal output by the earthquake detection unit 31, the elevator control unit 32 controls the operation of the passenger car 10. Specifically, the elevator control unit 32 switches the operation mode of the passenger car 10 from the normal operation mode to the earthquake control operation mode, moves the passenger car 10 to the nearest floor, and controls operations such as door opening standby there. As a result, before a large shake (main shock) occurs, the passenger car 10 can be stopped at the nearest floor, and users boarding the passenger car 10 can get off at the nearest floor, thus reducing the risk of being trapped and the like.

[0026] In addition, when the service robot 40 is inside the passenger car 10 during the earthquake control operation mode (during earthquake control operation), the elevator control unit 32 sends a destination floor change instruction for changing the destination floor of the service robot 40 to the nearest floor to the service robot 40 via the robot linkage unit 34.

[0027] In addition, when the passenger car 10 has stopped at the destination floor of the service robot 40, the elevator control unit 32 sends a destination floor arrival notice indicating that the passenger car 10 has reached the destination floor to the service robot 40 via the robot linkage unit 34 (in other words, a notice urging getting off from the passenger car 10). In addition, although detailed descriptions are omitted in this specification, when the passenger car 10 has stopped at the departure floor of the service robot 40, the elevator control unit 32 sends a departure floor arrival notice indicating that the passenger car 10 has reached the departure floor to the service robot 40 via the robot linkage unit 34 (that is, a notice urging boarding the passenger car 10).

[0028] The robot boarding / jetting determination unit 33 detects the boarding / jetting of the service robot 40 in the passenger car 10 based on the boarding signal indicating that the service robot 40 has boarded the passenger car 10 and the getting-off signal indicating that the service robot 40 has got off the passenger car 10 sent from the service robot 40, and determines whether the service robot 40 is inside the passenger car 10.

[0029] For example, when receiving the boarding signal sent by the service robot 40, the robot boarding / jetting determination unit 33 detects that the service robot 40 has boarded the passenger car 10. In addition, when receiving the getting-off signal sent by the service robot 40, the robot boarding / jetting determination unit 33 detects that the service robot 40 has got off the passenger car 10.

[0030] In the case where the above-described elevator boarding signal is received but the above-described elevator alighting signal is not received, the robot boarding / alighting determination unit 33 determines that the service robot 40 is inside the passenger car 10 (in other words, detects that the service robot 40 is inside the passenger car 10). The result of the determination (detection) by the robot boarding / alighting determination unit 33 is sent to the elevator control unit 32.

[0031] The robot linkage unit 34 is a communication interface for communicating with the service robot 40.

[0032] The robot linkage unit 34 receives the elevator boarding signal sent by the service robot 40 and outputs the elevator boarding signal to the robot boarding / alighting determination unit 33. Similarly, the robot linkage unit 34 receives the elevator alighting signal sent by the service robot 40 and outputs the elevator alighting signal to the robot boarding / alighting determination unit 33. Furthermore, the robot linkage unit 34 sends the destination floor change instruction output from the elevator control unit 32 to the service robot 40.

[0033] As Figure 1 shown, the service robot 40 includes: an elevator linkage unit 41 (communication unit), a destination floor setting unit 42, a robot control unit 43, and a robot boarding / alighting sending unit 44.

[0034] The elevator linkage unit 41 is a communication interface for communicating with the elevator control device 30.

[0035] The elevator linkage unit 41 receives the destination floor change instruction sent by the elevator control device 30 and outputs the destination floor change instruction to the destination floor setting unit 42. In addition, the elevator linkage unit 41 receives the destination floor arrival notification sent by the elevator control device 30 and outputs the destination floor arrival notification to the robot control unit 43. In addition, in the case where the above-described departure floor arrival notification is received, the elevator linkage unit 41 also outputs the departure floor arrival notification to the robot control unit 43 in the same manner.

[0036] The destination floor setting unit 42 has a function of setting the destination floor of the service robot 40. The destination floor setting unit 42 changes the destination floor being set for the service robot 40 to the destination floor indicated by the destination floor change instruction (in this case, the nearest floor) according to the destination floor change instruction output from the elevator linkage unit 41. In other words, the destination floor setting unit 42 changes the destination floor set when the service robot 40 sends a movement request to the destination floor indicated by the above-described destination floor change instruction. Information indicating the destination floor set in the service robot 40 is sent to the robot control unit 43.

[0037] The robot control unit 43 controls the operations of the elevator linkage unit 41, the destination floor setting unit 42, and the robot boarding / alighting sending unit 44, and controls the operation of the service robot 40 according to various signals from the elevator linkage unit 41 and the destination floor setting unit 42.

[0038] The robot control unit 43 sends the above-mentioned movement request to the elevator control device 30 via the elevator linkage unit 41. The movement request is generated, for example, when the service robot 40 needs to use the passenger car 10 when providing various services. When the above-mentioned movement request is sent to the elevator control device 30, the robot control unit 43 controls the operation of the service robot 40 to move it from the departure floor indicated by the movement request to the destination floor.

[0039] In addition, the robot control unit 43 controls the operation (movement) of the service robot 40 based on the destination floor arrival notification output from the elevator linkage unit 41 so that the service robot 40 gets off the passenger car 10. In addition, the robot control unit 43 also controls the operation (movement) of the service robot 40 based on the departure floor arrival notification output from the elevator linkage unit 41 so that the service robot 40 gets on the passenger car 10.

[0040] Furthermore, the robot control unit 43 outputs a notification indicating that the boarding / alighting of the service robot 40 has been completed to the robot boarding / alighting sending unit 44.

[0041] Based on the notification indicating the end of getting off the service robot 40 output from the robot control unit 43, the robot boarding / alighting sending unit 44 sends a getting-off signal indicating that the service robot 40 has got off the passenger car 10 to the elevator control device 30 via the elevator linkage unit 41. In addition, based on the notification indicating the completion of boarding of the service robot 40 output from the robot control unit 43, the robot boarding / alighting sending unit 44 sends a boarding signal indicating that the service robot 40 has boarded the passenger car 10 to the elevator control device 30 via the elevator linkage unit 41.

[0042] Next, with reference to Figure 2 the following flowchart, an example of the operation of the elevator system according to the present embodiment will be described. In addition, the operation when an earthquake occurs during the operation of the passenger car 10 in the normal operation mode will be described here.

[0043] When the earthquake detection unit 31 included in the elevator control device 30 detects the occurrence of an earthquake (step S1), the elevator control unit 32 switches the operation mode of the passenger car 10 from the normal operation mode to the earthquake control operation mode and performs control to move the passenger car 10 to the nearest floor (step S2).

[0044] Next, the robot boarding / alighting determination unit 33 determines whether the service robot 40 is in the passenger car 10. Specifically, the robot boarding / alighting determination unit 33 determines whether the service robot 40 is in the passenger car 10 based on the boarding signal and the getting-off signal sent by the service robot 40 (step S3).

[0045] In addition, when the above-described elevator boarding signal is received but the above-described elevator alighting signal is not received, the robot boarding / alighting determination unit 33 determines that the service robot 40 is inside the passenger car 10. On the other hand, when both the above-described elevator boarding signal and the elevator alighting signal are received (i.e., when the elevator boarding signal and the elevator alighting signal corresponding to the elevator boarding signal are received), or when the above-described elevator boarding signal is not received originally, the robot boarding / alighting determination unit 33 determines that the service robot 40 is not inside the passenger car 10.

[0046] In the process of step S3, when it is determined that the service robot 40 is not inside the passenger car 10 (step S3), this series of operations ends here.

[0047] On the other hand, in the process of step S3, when it is determined that the service robot 40 is inside the passenger car 10 (Yes in step S3), the elevator control unit 32 sends a destination floor change instruction for changing the destination floor of the service robot 40 to the nearest floor to the service robot 40 via the robot linkage unit 34 (step S4).

[0048] When the destination floor change instruction is received through the elevator linkage unit 41 included in the service robot 40 (step S5), the destination floor setting unit 42 changes the destination floor set for the service robot 40 to the destination floor indicated by the destination floor change instruction (i.e., the nearest floor) (step S6).

[0049] The elevator control unit 32 included in the elevator control device 30 controls to open the door of the passenger car 10 when the passenger car 10 arrives at the nearest floor (step S7). Then, the elevator control unit 32 sends a destination floor arrival notification indicating that the passenger car 10 has arrived at the destination floor of the service robot 40 (which is the nearest floor at this time) to the service robot 40 via the robot linkage unit 34 (step S8).

[0050] When the destination floor arrival notification is received through the elevator linkage unit 41 included in the service robot 40 (step S9), the robot control unit 43 controls the operation (movement) of the service robot 40 so that the service robot 40 alights from the passenger car 10 (step S10).

[0051] Through the processing of step S10, when the descent of the service robot 40 ends, the robot boarding / alighting transmission unit 44 sends a descent signal indicating that the service robot 40 has descended from the passenger car 10 to the elevator control device 30 via the elevator linkage unit 41 (step S11). After the processing of step S11, the service robot 40 enters a standby state near the landing hall. Additionally, the standby state here refers to a state in which various settings related to the movement request generated when boarding the passenger car 10 this time (e.g., the destination floor before change) are reset, and it waits for a new request related to the provision of a specified service (e.g., a new request to move an item from the 1st floor to the 3rd floor, etc.).

[0052] Then, the elevator control device 30 receives the descent signal sent by the service robot 40, and when it confirms that the descent of the service robot 40 has been completed safely (normally) (step S12), it ends the series of actions here.

[0053] Here, assuming a specific situation, the operation of the elevator system of this embodiment will be described.

[0054] Hereinafter, as Figure 3 shown, assume that in an elevator system including one passenger car 10 in a building located on the 3rd floor, during the process of the service robot 40 boarding the passenger car 10 and moving from the 1st floor to the 3rd floor, an earthquake occurs when the passenger car 10 moves between the 1st floor and the 2nd floor.

[0055] In this case, first, as Figure 3 shown in (a) below, the elevator control unit 32 included in the elevator control device 30 switches the operation mode of the passenger car 10 to the earthquake control operation mode, and controls to move the passenger car 10 to the nearest floor, which is the 2nd floor. Additionally, the elevator control unit 32 sends a destination floor change instruction for changing the currently set destination floor (which is the 3rd floor at this time) to the nearest floor, which is the 2nd floor, to the service robot 40 boarding in the passenger car 10. The destination floor setting unit 42 included in the service robot 40 changes (sets) the destination floor from the 3rd floor to the 2nd floor according to the destination floor change instruction sent by the elevator control device 30.

[0056] After that, as Figure 3 shown in (b) below, when the passenger car 10 docks at the nearest floor, which is the 2nd floor, the elevator control unit 32 included in the elevator control device 30 controls to open the door of the passenger car 10. Additionally, the elevator control unit 32 sends a destination floor arrival notice indicating the arrival at the destination floor to the service robot 40 boarding in the passenger car 10.

[0057] The robot control unit 43 included in the service robot 40 controls the operation (movement) of the service robot 40 according to the destination floor arrival notification sent by the elevator control device 30 so that it gets off the passenger car 10. When the getting-off of the service robot 40 is completed, as shown in (c) of Figure 3 the robot boarding / alighting sending unit 44 sends a getting-off signal indicating that the service robot 40 has got off the passenger car 10 to the elevator control device 30.

[0058] Thus, even when an earthquake is detected during the movement of the service robot 40 while boarding and moving in the passenger car 10 and the passenger car 10 moves to the nearest floor different from the original destination floor according to the earthquake control operation mode, the service robot 40 can get off at the nearest floor different from the original destination floor ( Figure 3 3 floors in this case), and the nearest floor different from the original destination floor ( Figure 3 2 floors in this case), so that the service robot 40 can be prevented from being trapped in the passenger car 10.

[0059] In the present embodiment described above, after the service robot 40 gets off at the nearest floor, it enters a standby state in which various settings (for example, the destination floor before the change) related to the movement request generated when boarding the passenger car 10 this time are reset. However, for example, when the service robot 40 gets off at a floor different from the original destination floor (the nearest floor), various settings related to the movement request generated when boarding the passenger car 10 this time are saved as an error log, and when the operation of the passenger car 10 resumes, the movement request for various settings indicated by the error log can also be sent to the elevator control device 30 again (that is, a call for moving to the destination floor before the change can also be registered). Thus, the service robot 40 can automatically resume the provision of services interrupted due to the occurrence of an earthquake, for example, together with the recovery of the elevator.

[0060] Hereinafter, a modification example will be described.

[0061] (Modification example)

[0062] In this modification example, the operation in the case where the elevator control device 30 sends a destination floor change instruction and a destination floor arrival notification to the service robot 40 but cannot receive a getting-off signal from the service robot 40 will be described.

[0063] Figure 4 is a flowchart showing an example of the operation of the elevator control device 30 in the modification example. In addition, for the processing same as the processing shown in Figure 2 the detailed description thereof is omitted here.

[0064] First, as in Figure 2Perform the same processing as steps S1 to S4, S7, and S8, and execute the processing of steps S21 to S26. Thus, a destination floor change instruction and a destination floor arrival notification are sent from the elevator control device 30 to the service robot 40.

[0065] After a certain time has elapsed since the door of the passenger car 10 is opened, the elevator control device 30 controls to close the door of the passenger car 10. At this time, the elevator control device 30 confirms whether it can receive a getting-off signal from the service robot 40 (step S27).

[0066] In the processing of step S27, when it is confirmed that a getting-off signal from the service robot 40 can be received (Yes in step S27), the elevator control device 30 can confirm that the getting-off of the service robot 40 has been completed safely (normally), and ends the series of operations here.

[0067] On the other hand, in the processing of step S27, when it is confirmed that no getting-off signal is received from the service robot 40 (No in step S27), the elevator control device 30 re-sends the destination floor change instruction sent in the processing of step S24 above to the service robot 40. After controlling to open the door of the passenger car 10 again (step S28), the processing of step S26 above is executed again.

[0068] By executing the processing of steps S27 and S28 above, the elevator control device 30 executes the processing of sending the destination floor change instruction to the service robot 40 and the processing of sending the destination floor arrival notification to the service robot 40 again, and can enable the service robot 40 to get off the passenger car 10 that has been opened again. Thus, for example, when the communication condition is poor during the execution of the processing of step S24, and the service robot 40 cannot normally receive the destination floor change instruction sent from the elevator control device 30 and cannot change the destination floor of the service robot 40 to the nearest floor, it can also cope.

[0069] In addition, through the processing of step S28 above, when the door of the passenger car 10 is opened again, the elevator control device 30 displays a notification indicating that the elevator cannot be used currently due to an earthquake on a display device (for example, an indicator showing the floor) provided on the waiting hall side. Thus, it is possible to prevent users from mistakenly boarding the passenger car 10 that has been opened again.

[0070] According to one embodiment described above, it is possible to provide an elevator system that can prevent the service robot 40 from being trapped in the elevator (passenger car 10) during earthquake control operation.

[0071] In addition, in the present embodiment, the earthquake control operation when an earthquake is detected has been described as a representative example, but it is not limited thereto. For example, the elevator system of the present embodiment can also be applied during the vibration control operation of a long-sized object or during the automatic docking operation during a power outage.

[0072] In addition, several embodiments of the present invention have been described, but these embodiments are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the invention described in the scope of the claims and its equivalent scope.

Claims

1. An elevator system, which is communicatively connected to a moving body moving in a building in which an elevator is installed and an elevator control device for controlling the operation of the elevator, characterized in that: The elevator control device comprises: The earthquake detection department detects the occurrence of earthquakes; a boarding and alighting judging unit for judging whether the moving body is in the elevator based on a signal sent by the moving body, namely, an boarding signal indicating that the moving body has boarded the elevator and a descending signal indicating that the moving body has descended from the elevator; and A control unit which, when the earthquake detection unit detects the occurrence of an earthquake, switches from normal operation to earthquake control operation for moving the elevator to the nearest floor and controlling the door of the elevator to open, and further, when the boarding and alighting judgment unit determines that the moving body is in the elevator, sends a change instruction to the moving body for changing the destination floor of the moving body to the nearest floor.

2. The elevator system according to claim 1, characterized in that When the elevator stops at the nearest floor and the door is opened and closed, but the control unit cannot receive the elevator descent signal from the moving body, the change command is sent to the moving body again to open the door again.

3. The elevator system according to claim 2, characterized in that When the control unit reopens the door, the control unit causes a display device provided on the elevator lobby side to display a notice indicating that the elevator cannot be used at present due to the occurrence of an earthquake.

4. The elevator system according to any one of claims 1 to 3, characterized in that: The moving body changes the destination floor to the nearest floor according to the change instruction, and enters a standby state near the elevator lobby when getting off at the nearest floor.

5. The elevator system according to any one of claims 1 to 3, characterized in that: When the moving body changes the destination floor to the nearest floor according to the change instruction, the moving body stores the destination floor before the change as a log, and registers a call for moving to the destination floor before the change indicated by the log after the elevator is restored.

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