Elevator system

Abstract

An elevator system. The embodiment of the invention relates to an elevator system in linkage with an autonomous robot. The height difference generated when the robots go in and out is rapidly eliminated, and the follow-up robots are prevented from falling down due to the height difference. According to one embodiment, an elevator system includes an image pickup device that captures an image of a floor surface of a passenger car and a floor surface of an elevator hall of an elevator, a height difference detection unit, and a position adjustment unit. When the plurality of robots use the elevator, the height difference detection unit analyzes the image obtained from the camera device, and detects the height difference between the floor surface of the passenger car and the floor surface of the elevator hall generated when any one of the plurality of robots enters and exits the passenger car. The position adjusting part adjusts the position of the passenger car relative to the floor surface of the elevator waiting hall according to the height difference detected by the height difference detecting part.

Description

[0001] This application is based on Japanese Patent Application No. 2024-000146 (filing date: January 4, 2024) and claims priority therefrom. This application incorporates the entire contents of that application by reference thereto. Technical Field

[0002] Embodiments of the present invention relate to an elevator system linked with an autonomous robot. Background Art

[0003] In recent years, autonomous mobile robots (hereinafter referred to as robots) have been used for security and luggage handling in buildings. Such robots can move to each floor in a building by linking with an elevator system and using an elevator car (boarding or alighting from the elevator car).

[0004] However, since such robots are heavier than users, a height difference is likely to occur between the floor surface of the landing and the floor surface of the elevator car when boarding or alighting from the elevator car. If a height difference occurs, subsequent robots may fall due to this height difference.

[0005] As a method for solving such a problem, a method of providing a sensor for detecting a height difference on the robot and instructing the elevator system (elevator control device) to correct the position from the robot when the height difference is detected by the sensor is considered. In addition, a method is known in which a height difference is detected by remote diagnosis, and the position of the elevator car is corrected by remote operation from the outside to eliminate the height difference.

[0006] However, the former method requires a sensor to be provided on the robot and cannot be applied to robots without a sensor. On the elevator system side, since position correction is performed by receiving an instruction from the robot, it takes time to eliminate the height difference, and during this period, subsequent robots need to be stopped. On the other hand, in the latter method, position correction is performed when a height difference is detected by remote diagnosis, so the height difference generated when each robot enters and exits the elevator cannot be eliminated in real time. Summary of the Invention

[0007] Therefore, the problem to be solved by the present invention is to provide an elevator system that can quickly eliminate the height difference generated when each robot enters and exits, and prevent subsequent robots from falling due to the height difference.

[0008] An elevator system according to an embodiment includes an imaging device that captures the floor surface of the elevator car and the floor surface of the landing, a height difference detection unit, and a position adjustment unit. The height difference detection unit analyzes an image obtained from the imaging device when multiple robots use the elevator, and detects the height difference between the floor surface of the car and the floor surface of the landing that occurs when any one of the multiple robots enters or exits the car. The position adjustment unit adjusts the position of the car relative to the floor surface of the landing according to the height difference detected by the height difference detection unit.

[0009] With the elevator system configured as described above, it is possible to quickly eliminate the height difference generated when each robot enters or exits, and prevent subsequent robots from falling due to the height difference. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a block diagram showing the configuration of an elevator system according to an embodiment.

[0011] Figure 2 is a diagram showing an example of the configuration of a robot in this embodiment.

[0012] Figure 3 is a flowchart showing the process of aligning the floor surface of the car in this embodiment.

[0013] Figure 4 is a diagram showing an example of aligning the floor surface of the car when multiple robots in the same embodiment board the car.

[0014] Figure 5 is a diagram showing an example of aligning the floor surface of the car when multiple robots in the same embodiment get off the car.

[0015] Figure 6 is a diagram showing an example of a learning table as a modification.

[0016] Figure 7 is a flowchart showing the process of aligning the floor surface using the learning table.

[0017] Figure 8 is a diagram showing an example of an image when there is no height difference as a modification.

[0018] Figure 9 is a diagram showing an example of an image when there is a height difference as a modification. DETAILED DESCRIPTION OF THE EMBODIMENT

[0019] Hereinafter, the embodiment will be described with reference to the drawings.

[0020] In addition, the disclosure is merely an example, and the invention is not limited by the content described in the following embodiments. Modifications that are easily conceivable by those skilled in the art are of course included in the scope of the present disclosure. For more specific illustration, in the drawings, there are cases where the dimensions, shapes, etc. of each part are changed relative to the actual embodiments and are schematically shown. In multiple drawings, the same reference numerals are attached to corresponding elements, and sometimes detailed descriptions are omitted.

[0021] Figure 1 It is a block diagram showing the configuration of an elevator system according to an embodiment, showing a configuration in which an elevator control device and a control device of an autonomous robot are communicably connected.

[0022] The passenger car 11 is lifted and lowered in the hoistway under the control of the elevator control device 20 by the drive of the hoist 19. A camera 12 (imaging device) is provided in the passenger car 11. The camera 12 is provided, for example, on the ceiling surface near the car door 11a in the passenger car 11, and continuously captures an image including the car floor surface 15 of the passenger car 11 and the landing floor surface 16. The camera 12 is connected to the elevator control device 20 via a cable (not shown). In addition, the installation location of the camera 12 is not limited to the ceiling surface in the passenger car 11, and can be installed anywhere as long as it can capture an image including the car floor surface 15 and the landing floor surface 16.

[0023] The robots 13a and 13b are, for example, autonomous mobile robots that perform operations such as luggage delivery, security, and cleaning, and can move between floors in a building by boarding the passenger car 11. Hereinafter, when the robots 13a and 13b are not particularly distinguished, they will be referred to as the robot 13 for description. The robot 13 acts according to an instruction from the robot control device 14. The robot 13 and the robot control device 14 are connected so as to be able to communicate with each other via a prescribed wireless communication method.

[0024] The robot control device 14 is connected to the elevator control device 20 by wireless communication and controls the operation of the robot 13. When the robot 13 enters or exits the passenger car 11, the robot control device 14 sends information of a destination call including information on the departure floor (boarding floor) and the destination floor (exit floor) together with the category information of the robot 13 to the elevator control device 20.

[0025] Landing doors 17 and landing call buttons 18 are provided on each landing. The landing doors 17 are provided at the entrances and exits of the passenger car 11 so as to be able to open and close freely. The landing doors 17 are engaged with the car door 11a to perform opening and closing operations. In addition, the power source (door motor) is located on the side of the passenger car 11, and the landing doors 17 only follow the opening and closing of the car door 11a.

[0026] The landing call button 18 is a button for users to register a landing call. In addition, a "landing call" refers to a call signal registered by operating the landing call button 18 provided on each floor landing, and includes information on the registered floor and the destination direction. In contrast, a "car call" refers to a call signal registered by operating a destination call button (not shown) provided inside the passenger car 11, and includes information on the destination floor.

[0027] The hoist 19 is equipped with a motor, and by driving the motor to wind up the rope connected to the passenger car 11, the passenger car 11 is lifted and lowered in the hoistway.

[0028] The elevator control device 20 is composed of a computer having a CPU, ROM, RAM, etc., and controls the entire elevator. In the present embodiment, the elevator control device 20 includes a call storage unit 21, an operation control unit 22, a height difference detection unit 23, a position adjustment unit 24, and a communication unit 25.

[0029] The call storage unit 21 stores the landing calls registered by operating the landing call buttons 18 provided on each floor and the car calls registered by operating the car call buttons (not shown) provided inside the passenger car 11. Further, in the present embodiment, the call storage unit 21 stores the destination calls of the robots 13 registered by the robot control device 14 together with the category information of the robots 13.

[0030] The operation control unit 22 performs operation control such as moving the passenger car 11 to each floor based on the landing calls, car calls, and destination calls stored in the call storage unit 21. Specifically, the operation control unit 22 controls the hoist 19 to lift and lower the passenger car 11 in the hoistway and move it to each floor. Usually, when the passenger car 11 stops at any floor, the position is adjusted so that the car floor surface 15 and the landing floor surface 16 are on the same plane. However, when a robot 13 heavier than a user enters or exits, a height difference may occur between the car floor surface 15 and the landing floor surface 16.

[0031] The height difference detection unit 23 detects the height difference generated between the car floor surface 15 and the landing floor surface 16. Specifically, the height difference detection unit 23 analyzes and processes the image obtained from the camera 12 to determine whether a height difference has occurred between the car floor surface 15 of the passenger car 11 and the landing floor surface 16.

[0032] When the height difference detection unit 23 detects the height difference, the position adjustment unit 24 controls the hoist 19 to adjust the position of the passenger car 11 in such a way that the car floor surface 15 and the elevator lobby floor surface 16 become the same plane. In addition, this position adjustment is referred to as (floor surface alignment). In addition, while the floor surface alignment of the passenger car 11 is being performed, the position adjustment unit 24 sends a notification to the communication unit 25 indicating that the passenger car 11 is in the floor surface alignment.

[0033] The communication unit 25 controls data communication with the robot 13 via the robot control device 14. When receiving a notification from the position adjustment unit 24 indicating that the car 11 is aligned with the floor surface, the communication unit 25 notifies the robot control device 14 to prohibit the movement of the robot 13b that is scheduled to enter and exit the car 11 after the robot 13a, before the floor surface alignment of the car 11 is completed. Alternatively, the communication unit 25 may communicate directly with the robot 13 without going through the robot control device 14 to notify the robot 13 to prohibit movement.

[0034] Figure 2 It is a block diagram showing the functional configuration of the robot 13 .

[0035] The robot 13 includes a control unit 31 , a sensor 32 , a communication device 33 , an operation unit 34 , a display unit 35 , a storage unit 36 ​​, a drive unit 37 , and the like.

[0036] The control unit 31 is composed of a CPU, and by starting a predetermined program, it is linked with the elevator system to perform control for autonomous movement within a predetermined area including each floor of the building. The sensor 32 is, for example, a laser range finder, an ultrasonic range sensor, a dual-lens camera, a LIDAR (Laser Imaging Detection and Ranging), etc. The robot 13 moves while avoiding obstacles through the sensor 32, detects the empty space in the car 11, and takes the elevator.

[0037] The communication device 33 performs wireless communication with the robot control device 14. The operation unit 34 is a part for performing input operations such as inputting a destination and other various data. The display unit 35 displays various data. In addition to pre-stored programs, the storage unit 36 ​​also stores map information including the movement path of the robot 13. The drive unit 37 includes a motor for driving the wheels provided at the bottom of the robot 13.

[0038] Next, the operation of this system will be described.

[0039] Figure 3It is a flowchart showing the operation of this system. The processing shown in this flowchart is mainly executed by the elevator control device 20 which is a computer.

[0040] Currently, destination calls with the same floor as the departure floor are registered in the elevator control device 20 from multiple robots 13. The operation control unit 22 of the elevator control device 20 makes the passenger car 11 respond to the departure floor of the destination call and opens the car door 11a and the landing door 17 ("Yes" in step S11). The communication unit 25 sends a boarding permission notice to the passenger car 11 to the foremost robot 13 which is the closest to the passenger car 11 among the multiple robots 13 via the robot control device 14 (step S12).

[0041] When the foremost robot 13 that has received the boarding permission notice boards the passenger car 11, the height difference detection unit 23 obtains an image from the camera 12 provided in the passenger car 11 and analyzes it (step S13). The height difference detection unit 23 determines whether a height difference has occurred between the car floor surface 15 of the passenger car 11 and the landing floor surface 16 based on the analysis result (step S14). Specifically, in the image of the camera 12, the height difference detection unit 23 determines whether a height difference of a certain value or more (difference in the height direction) has occurred between the car floor surface 15 and the landing floor surface 16 based on the positional relationship of the structures (landing door 17, left and right columns of the door pocket, car door 11a, front column inside the car, etc.) around the car floor surface 15 and the landing floor surface 16.

[0042] In addition, the "certain value" can also be determined according to the characteristics of the robot 13 using the passenger car 11. The characteristics of the robot 13 refer to elements including the overall size of the robot 13, the size of the wheels, the weight, etc.

[0043] In the case where a height difference is detected ("Yes" in step S14), for the subsequent robots 13 other than the already boarded foremost robot 13, the position adjustment unit 24 sends a notice temporarily prohibiting boarding the passenger car 11 to the robot control device 14 (step S15). This is because, in a state where a height difference has occurred, if a subsequent robot 13 boards the passenger car 11, it may be tripped by the height difference and fall down. The robot control device 14 receives this notice and makes the subsequent robots 13 standby during the period until the floor surface of the passenger car 11 is aligned.

[0044] The position adjustment unit 24 adjusts the height position of the passenger car 11 by driving the hoist 19 according to the height difference detected by the height difference detection unit 23 so as to align the car floor surface 15 with the landing floor surface 16 to be on the same plane (step S16).

[0045] When the floor alignment is completed, the position adjustment unit 24 sends a notice of elevator boarding permission to the subsequent robot 13 to the passenger car 11 via the communication unit 25 and the robot control device 14 (step S17). After receiving this elevator boarding permission notice, the subsequent robot 13 starts moving again and boards the passenger car 11. At this time, since the height difference is eliminated, the subsequent robot 13 will not fall.

[0046] The position adjustment unit 24 refers to the destination calls registered in the call storage unit 21 and determines whether all the robots 13 registered with the destination call having this floor as the departure floor have boarded the elevator (step S18). In addition, when no height difference is detected in step S14 (the "no" in step S14), the process of step S17 is also executed.

[0047] When it is determined that all the robots 13 have boarded the elevator (the "yes" in step S18), the Figure 3 shown process ends. On the other hand, when not all the robots 13 have boarded the passenger car 11 (the "no" in step S18), that is, when there are subsequent robots 13 waiting in the waiting hall, the process of step S13 is executed again.

[0048] In addition, in the Figure 3 flowchart, the process in the case where multiple robots 13 with the same departure floor board the passenger car 11 is described, but it is the same in the case where multiple robots 13 with the same destination floor get off the elevator from the passenger car 11. That is, when leaving, the height difference generated when the foremost robot 13 gets off the elevator from the passenger car 11 is detected using the image of the camera 12, and after performing floor alignment to eliminate this height difference, the process of getting the subsequent robots 13 off the elevator is repeated during the period before all the robots 13 get off the elevator.

[0049] Figure 4 A specific example showing the situation where multiple robots board the passenger car is presented.

[0050] It is assumed that two robots 13a and 13b are waiting in the waiting hall on the same floor and the situation where they board the passenger car 11 in sequence when the passenger car 11 arrives is described.

[0051] When the passenger car 11 arrives at the waiting hall on the departure floor of the robots 13a and 13b in response to the destination calls of the robots 13a and 13b and the car door 11a and the waiting hall door 17 open, a notice of elevator boarding permission is sent to the foremost robot 13a. When the robot 13a boards the passenger car 11 according to this elevator boarding permission notice, an image of the state where the car floor surface 15 is lower than the waiting hall floor surface 16 is obtained through the camera 12.

[0052] By analyzing and processing the image of the camera 12, the height difference between the car floor surface 15 of the passenger car 11 and the landing floor surface 16 is detected. When the height difference is detected, the subsequent robot 13b is temporarily prohibited from boarding the passenger car 11. Furthermore, floor alignment for eliminating the current height difference is performed. When the floor alignment is completed and the height difference is eliminated, an elevator ride permission notice is sent to the subsequent robot 13b. The robot 13b receives this elevator ride permission notice and boards the passenger car 11.

[0053] In this way, when the height difference generated by the robot 13a boarding the passenger car 11 is detected, since floor alignment for eliminating this height difference is performed, when the subsequent robot 13b boards the passenger car 11, it is possible to prevent falling due to the height difference.

[0054] Figure 5 A specific example showing the situation where multiple robots leave the passenger car is presented.

[0055] Assume a situation where two robots 13a and 13b are boarding in the passenger car 11 and getting off the elevator in sequence at the landing on the same floor is described.

[0056] Based on the destination calls of the robots 13a and 13b, the passenger car 11 arrives at the landing of the destination floors of the robots 13a and 13b. When the car door 11a and the landing door 17 are opened, an elevator exit permission notice is sent to the frontmost robot 13a. According to this elevator exit permission notice, when the robot 13a gets off the elevator from the passenger car 11, an image of the state where the car floor surface 15 has risen compared to the landing floor surface 16 is obtained through the camera 12.

[0057] By analyzing and processing the image of the camera 12, the height difference between the car floor surface 15 of the passenger car 11 and the landing floor surface 16 is detected. When the height difference is detected, the subsequent robot 13b is temporarily prohibited from getting off the elevator from the passenger car 11. Furthermore, floor alignment for eliminating the current height difference is performed. When the floor alignment is completed and the height difference is eliminated, an elevator exit permission notice is sent to the subsequent robot 13b. The robot 13b receives this elevator exit permission notice and gets off the elevator from the passenger car 11.

[0058] In this way, in the case of the robot 13a getting off the elevator, as in the case of taking the elevator, the height difference is eliminated through floor alignment. Therefore, when the subsequent robot 13b gets off the elevator from the passenger car 11, it is possible to prevent falling due to the height difference.

[0059] As described above, according to this embodiment, when multiple robots 13 enter and exit the passenger car 11, the camera 12 is used to detect the height difference generated by the weight of these robots 13 each time, and the height difference is eliminated by position adjustment. Therefore, when the subsequent robots 13 enter and exit the passenger car 11, it is possible to prevent falling due to the height difference.

[0060] In addition, since the camera 12 is used to detect the height difference, there is no need for a sensor for detecting the height difference in the robot 13, and it is possible to perform position alignment in real time based on the judgment on the elevator side without receiving an instruction from the robot 13, and quickly eliminate the height difference.

[0061] (Variant example)

[0062] (1) Floor alignment using a learning table

[0063] If there is a learning table that stores the data of the position adjustment of the passenger car 11 in association with the category of the robot 13 when the robot 13 enters and exits the passenger car 11, then when the next robot 13 enters and exits the passenger car 11, it is possible to perform floor alignment based on the data stored in the learning table.

[0064] Figure 6 is an example of a learning table.

[0065] The position adjustment unit 24 has a learning table T1. When the position adjustment unit 24 performs floor alignment for eliminating the height difference when the robot 13 enters and exits, it associates and stores the category of the robot 13, the position adjustment data (the length in the height direction when performing floor alignment to eliminate the height difference), and the date and time of the implementation of the floor alignment in the learning table T1.

[0066] In Figure 6 's example, as the first learning data, robot category: Robot A, position adjustment data (size of the height difference): 3 cm, date and time: 12 / 1 - 12:45 are stored in the learning table T1. This means that since a 3 cm height difference was generated when Robot A entered and exited, floor alignment (position adjustment) was performed at 12:45 on December 1st. The same applies to other learning data.

[0067] In addition, in Figure 6 's example, although the position adjustment data when the robot 13 is boarding and alighting is stored in the learning table T1, it is also possible to store the position adjustment data when boarding and the position adjustment data when alighting separately in the learning table T1.

[0068] Figure 7 is a flowchart showing the process when performing floor alignment of the passenger car using a learning table.

[0069] At present, a destination call with the same floor as the departure floor is registered in the elevator control device 20 from the plurality of robots 13. The operation control unit 22 of the elevator control device 20 causes the passenger car 11 to respond to the departure floor of the destination call and open the car door 11a and the elevator hall door 17 ("Yes" in step S21). The communication unit 25 transmits a boarding permission notification to all the plurality of robots via the robot control device 14 (step S22).

[0070] Here, when the frontmost robot 13 is on the passenger car 11, the position adjustment unit 24 reads the position adjustment data corresponding to the type of the robot 13 from the learning table T1 (step S23). For example, when the type of the frontmost robot 13 is robot B, the position adjustment data (2 cm, 2 cm) for the floor surface alignment when the robot B enters and exits is read from the learning table T1. In addition, when there are a plurality of position adjustment data about the robot B, the average value of these data may be used, or the latest value may be used.

[0071] The position adjustment unit 24 performs floor alignment of the car 11 based on the position adjustment data read from the learning table T1 (step S24). That is, the position adjustment unit 24 predicts the height difference generated when the robot enters and exits based on the position adjustment data read from the learning table T1, and performs floor alignment to eliminate the height difference.

[0072] When the floor alignment is completed, the height difference detection unit 23 acquires an image from the camera 12 installed in the car 11 and analyzes it (step S25). The height difference detection unit 23 determines whether a height difference occurs between the car floor surface 15 of the car 11 and the elevator lobby floor surface 16 based on the analysis result (step S26). This is because, for example, when the robot 13 is a transport robot, the weight varies according to the weight of the luggage being transported, and a height difference greater than the value of the position adjustment data stored in the learning table T1 may occur.

[0073] When a height difference greater than a certain value is detected ("Yes" in step S26), the position adjustment unit 24 performs floor surface alignment according to the height difference detected by the height difference detection unit 23, and adjusts the height position of the passenger car 11 in such a way that the car floor surface 15 and the elevator lobby floor surface 16 are in the same plane (step S27).

[0074] In this way, after the two-stage position adjustment as needed, the position adjustment unit 24 refers to the destination calls registered in the call storage unit 21 and determines whether all the robots 13 registered with the destination calls having this floor as the departure floor have boarded the elevator (step S28). In addition, when no height difference is detected in step S26 ( "No" in step S26), the process of step S28 is also executed.

[0075] When it is determined that all the robots 13 have boarded the elevator ( "Yes" in step S28), the Figure 7 shown process ends. On the other hand, when not all the robots 13 are on board the passenger car 11 (No in step S28), the process of step S23 is executed again.

[0076] In addition, in the Figure 7 flowchart, the process when multiple robots 13 with the same departure floor board the passenger car 11 is described, but the same applies when multiple robots 13 with the same destination floor get off the elevator from the passenger car 11. That is, when getting off the elevator, the height difference generated when the foremost robot 13 gets off the elevator from the passenger car 11 is predicted based on the position adjustment data stored in the learning table T1, and floor alignment (first position adjustment) is performed to eliminate this height difference. Further, the camera 12 is used to confirm the height difference, and if a height difference above a certain value is detected, floor alignment is performed again (second position adjustment). This process is repeated until all the robots 13 get off the elevator.

[0077] In this way, by using the learning table T1, the height difference generated when the robot 13 enters and exits can be predicted in advance, so that the robot 13 can perform floor alignment during entry and exit. Therefore, it is not necessary to temporarily stop the subsequent robots 13 for floor alignment. When multiple robots 13 use the passenger car 11, they can enter and exit quickly without separating the intervals between these robots 13.

[0078] In addition, after performing floor alignment using the learning table T1, by finely adjusting the passenger car 11 on the basis of confirming the height difference with the camera 12, in the case of a height difference that significantly deviates from the value of the learning data, it is possible to prevent the subsequent robots 13 from falling.

[0079] (2) Detecting the height difference based on the mark

[0080] Figure 8 is a diagram showing an image when there is no height difference between the car floor surface 15 of the passenger car 11 and the landing floor surface 16. The car door 11a and the landing door 17 are open, and the car floor surface 15 and the landing floor surface 16 are in the same plane. In the landing, the robot 13a with a registered destination call stands by.

[0081] A mark 43 (identifier) having a linear shape that spans the threshold 41 of the passenger car 11 and the threshold 42 of the landing and has a specified length is provided obliquely with respect to the door opening and closing direction. When there is no height difference between the car floor surface 15 and the landing floor surface 16, the mark 43 is linearly connected between the threshold 41 of the passenger car 11 and the threshold 42 of the landing. When there is a height difference between the car floor surface 15 and the landing floor surface 16, the mark 43 is separated at the boundary between the threshold 41 of the passenger car 11 and the threshold 42 of the landing and is not connected in a straight line. At this time, the greater the height difference, the wider the interval when the mark 43 is separated. Therefore, the magnitude of the height difference can be known from this interval.

[0082] Figure 9 It is a diagram showing an image when there is a height difference between the car floor surface 15 of the passenger car 11 and the landing floor surface 16. The robot 13a rides on the passenger car 11 to create a height difference between the car floor surface 15 of the passenger car 11 and the landing floor surface 16. Due to this height difference, the mark 43 is separated at the boundary between the threshold 41 of the passenger car 11 and the threshold of the landing. The height difference detection unit 23 obtains the interval when the mark 43 is separated in the image and detects the magnitude of the height difference based on this interval.

[0083] In this way, when detecting the height difference between the car floor surface 15 and the landing 16 based on the image of the camera 12, by providing a linear mark 43 that spans the threshold 41 of the passenger car 11 and the threshold of the landing, the height difference can be easily detected from the separated state of the mark 43.

[0084] According to at least one of the above-described embodiments, an elevator system can be provided that can quickly eliminate the height difference generated when each robot enters and exits and prevent subsequent robots from falling due to the height difference.

[0085] Although some embodiments of the present invention have been described, these embodiments are shown as examples and are not intended to limit the scope of the present invention. These 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 also included in the invention described in the claims and its equivalent scope.

Claims

1. An elevator system, characterized in that, Comprising: An imaging device that images the floor surface of the passenger car of the elevator and the floor surface of the landing hall; A height difference detection unit that, when multiple robots use the elevator, analyzes the image obtained from the imaging device and detects the height difference between the floor surface of the passenger car and the floor surface of the landing hall that occurs when any one of the multiple robots enters or exits the passenger car; And A position adjustment unit that adjusts the position of the passenger car relative to the floor surface of the landing hall based on the height difference detected by the height difference detection unit.

2. The elevator system according to claim 1, wherein After the robot moves from the landing hall to the passenger car, or after the robot moves from the passenger car to the landing hall, the position adjustment unit performs position adjustment of the passenger car.

3. The elevator system according to claim 1, wherein During the period when the robot moves from the landing hall to the passenger car, or during the period when the robot moves from the passenger car to the landing hall, the position adjustment unit performs position adjustment of the passenger car.

4. The elevator system according to claim 1, wherein The elevator is communicably connected to a robot control device that controls the operation of multiple autonomous robots, The elevator is provided with a notification unit that, during the period before the position adjustment of the passenger car is completed, notifies the robot control device in a manner that prohibits the movement of robots that are scheduled to enter or exit the passenger car after the robot.

5. The elevator system according to claim 1, wherein The position adjustment unit has a learning table that stores data corresponding to the robot after the position of the passenger car is adjusted when the robot enters or exits the passenger car, In the case where the robot enters or exits the passenger car next time, the position adjustment of the passenger car is performed as a first adjustment according to the data stored in the learning table.

6. The elevator system according to claim 5, wherein After the first adjustment, when the height difference detection unit detects a height difference of a certain value or more, the position adjustment unit performs position adjustment of the passenger car in a manner that eliminates the height difference at this time as a second adjustment.

7. The elevator system according to claim 1, wherein The elevator has an identifier near the entrance and exit of the passenger car, The imaging device images the identifier, The height difference detection unit analyzes the image of the identifier obtained from the imaging device and detects the height difference between the floor surface of the passenger car and the floor surface of the landing hall according to the state of the identifier.

Images