Elevator system

Abstract

The invention provides an elevator system capable of enabling a moving body to quickly get on an elevator car or get off the elevator from the elevator car. The elevator system is provided with: a communication unit that receives, from a moving body that moves autonomously, a notification of getting on or off a car of an elevator device, and information indicating the weight of the moving body; a calculation unit that calculates the formal releveling amount of the car on the basis of the received weight of the moving body; and an execution unit that, when a part of the moving body is in the car or when a part of the moving body is out of the car, causes the car to ascend or descend by a normal releveling amount by driving a hoist of the car.

Description

Technical Field

[0001] This disclosure relates to an elevator system that cooperates with an autonomously moving body. Background Technology

[0002] Patent Document 1 discloses an elevator control system. This elevator control system includes an elevator and an autonomous moving vehicle. When the self-balancing moving vehicle rides the elevator car, the car sinks due to its weight, potentially creating a step difference at the boundary between the car and the landing. The self-balancing moving vehicle detects the amount of this step difference while riding the elevator car. Based on information from the autonomous moving vehicle, the elevator raises or lowers the car to eliminate the detected step difference. Therefore, the step difference can be effectively eliminated.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2005-089046

[0004] However, in the elevator control system described in Patent Document 1, the elevator eliminates the step difference while repeatedly communicating with the self-balancing vehicle regarding the step difference. Since the self-balancing vehicle stops when the self-balancing vehicle enters the car, the elevator's operating efficiency may decrease. Summary of the Invention

[0005] This disclosure was made to solve the aforementioned problems. The purpose of this disclosure is to provide an elevator system that enables a moving body to quickly board or disembark from the elevator car.

[0006] The elevator system disclosed herein includes: a communication unit that receives notifications from a moving body autonomously moving about boarding or disembarking from the elevator car, and information indicating the weight of the moving body; a calculation unit that calculates the formal releveling amount of the car based on the received weight of the moving body; and an execution unit that, when a part of the moving body is boarding the car or when a part of the moving body is disembarking from the car, raises or lowers the car by the formal releveling amount by driving the traction machine of the car.

[0007] According to this disclosure, the elevator system raises or lowers the car by a certain amount when a part of the moving body is riding in the car or when a part of the moving body is disembarking from the car. Therefore, it is possible to quickly allow the moving body to ride in or disembark from the car. Attached Figure Description

[0008] Figure 1 This is a structural diagram of a building using the elevator system in Implementation Method 1.

[0009] Figure 2 This is a schematic diagram of a moving vehicle traveling in a car that has not been releveled.

[0010] Figure 3This is a schematic diagram of a moving vehicle traveling in a car that has not been releveled.

[0011] Figure 4 This is a schematic diagram of the moving vehicle descending the elevator car without ever re-leveling.

[0012] Figure 5 This is a schematic diagram of the moving vehicle descending the elevator car without ever re-leveling.

[0013] Figure 6 This is a functional block diagram of the elevator system in Implementation Method 1.

[0014] Figure 7 This is a flowchart illustrating an example of the actions performed by the elevator system in Implementation 1.

[0015] Figure 8 This is a flowchart illustrating an example of the actions performed by the elevator system in Implementation 1.

[0016] Figure 9 This is a diagram showing the first example of a detector for an elevator system in Embodiment 1.

[0017] Figure 10 This is a diagram showing a second example of the detector for the elevator system in Embodiment 1.

[0018] Figure 11 This is a functional block diagram of the elevator system in Implementation Method 2.

[0019] Figure 12 This is a hardware structure diagram of the cooperative device of the elevator system in implementation method 1 or 2.

[0020] Label Explanation

[0021] 1: Elevator system; 2: Control panel; 3: Moving body; 4: Cooperative device; 10: Detector; 11: Descent detection unit; 12: Anomaly detection unit; 31: Independent communication unit; 32: Sensor unit; 33: Weight detection unit; 34: Movement control unit; 41: Communication unit; 42: Cooperative unit; 43: Calculation unit; 44: Execution unit; 50: Elevator device; 51: Traction machine; 52: Vibration damping rubber; 53: Main rope; 54: Car; 55: Spring buckle; 56: Landing plate; 57: Landing position detector; 58: Frame; 59: Car floor rubber; 60: Floor; 61: Car door; 62: Threshold; 63: Sensor; 64: Camera; 65: Weighing device; 100a: Processor; 100b: Memory; 200: Hardware; B: Building; B1: Hoistway; B2: Machine room; B3: Landing station. Detailed Implementation

[0022] The embodiments for implementing this disclosure are described with reference to the accompanying drawings. Furthermore, in the drawings, identical or corresponding parts are labeled with the same reference numerals. Repetitive descriptions of these parts are appropriately simplified or omitted.

[0023] Implementation method 1.

[0024] Figure 1 This is a structural diagram of a building using the elevator system in Implementation Method 1. Figure 2 and Figure 3 This is a schematic diagram of a moving vehicle traveling in a car that has not been re-leveled. Figure 4 and Figure 5 This is a schematic diagram of the moving vehicle descending the elevator car without ever re-leveling. Figure 6 This is a functional block diagram of the elevator system in Implementation Method 1.

[0025] like Figure 1 As shown, elevator system 1 includes an elevator unit 50 installed in building B. Elevator system 1 includes a moving body 3 and a cooperating device 4. The moving body 3 is located inside building B and moves vertically using the elevator unit 50. The cooperating device 4 assists in the cooperation between the moving body 3 and the elevator unit 50.

[0026] Shaft B1 runs through all floors of building B. Machine room B2 is located directly above shaft B1. Multiple landing stations B3 are located on each floor of building B, and each landing station B3 is opposite shaft B1.

[0027] In the elevator assembly 50 of this embodiment, a traction machine 51 is installed in the machine room B2. The traction machine 51 is placed on the floor of the machine room B2 via vibration damping rubber 52. A main rope 53 is wound around the traction machine 51. A car 54 is installed inside the hoistway B1. The car 54 is suspended from one side of the main rope 53 via spring clips 55. A control panel 2 of the elevator assembly 50 is installed in the machine room B2. The control panel 2 controls the overall operation of the elevator assembly 50.

[0028] In hoistway B1, a landing plate 56 is installed at a position corresponding to landing B3. In car 54, a landing position detector 57 is installed at a position that may be opposite to the landing plate 56.

[0029] For example, control panel 2 controls the operation of traction machine 51, thereby causing car 54 to rise or fall. Specifically, traction machine 51 rotates, thereby causing main rope 53 to move in tandem with traction machine 51. Car 54 rises or falls together with the movement of main rope 53. Control panel 2 controls the stopping position of car 54 based on the result obtained by reading the stopping plate 56 from the stopping position detector 57.

[0030] Mobile body 3 is positioned in building B. Mobile body 3 moves autonomously. That is, mobile body 3 generates a movement path toward a predetermined target location based on detection values ​​from its onboard sensors. Mobile body 3 is a robot used for tasks such as object handling and security. However, mobile body 3 is not limited to performing these tasks.

[0031] For example, the collaborative device 4 can be located in a different location than building B. The functionality of the collaborative device 4 can also be implemented on a cloud server. The collaborative device 4 can communicate separately with the control panel 2 and the mobile unit 3.

[0032] When the mobile body 3 moves vertically using the elevator device 50, it sends a travel notification to the cooperating device 4 requesting to board the car 54. The travel notification includes the departure floor and destination floor of the car 54. Based on the travel notification, the cooperating device 4 sends a call containing the destination floor to the control panel 2. The control panel 2 registers the call with the car 54 and allocates the car 54. The control panel 2 sends the operating status, including the position of the car 54, to the cooperating device 4. When the cooperating device 4 is ready to board the car 54, it sends a travel instruction to the mobile body 3. The mobile body 3 boards the car 54 according to the travel instruction. When the journey to the car 54 is complete, the mobile body 3 sends a travel completion notification to the cooperating device 4. Upon receiving the travel completion information from the cooperating device 4, the control panel 2 begins the movement of the car 54.

[0033] As the moving body 3 descends from the car 54, the cooperating device 4 sends a descending command to the moving body 3 based on the operating status of the control panel 2. The moving body 3 sends a descending notification as confirmation of receipt of the descending command and then descends from the car 54. When the descending from the car 54 is complete, the moving body 3 sends a notification of completion to the cooperating device 4. Upon receiving the completion information from the cooperating device 4, the control panel 2 terminates the movement of the car 54.

[0034] In the moving body 3, since the lower surface of the housing is designed to be close to the driving surface, the permissible difference in ground level relative to the driving surface is sometimes determined. For example, the permissible difference in ground level during movement, i.e., the permissible difference in ground level, is set to 5 mm for the moving body 3. Suppose that the moving body 3 moves with a difference in ground level exceeding 5 mm, sometimes the lower surface of the housing rises to the portion of the difference in ground level, and all the wheels are not on the ground, making it impossible for the moving body 3 to move.

[0035] Furthermore, regarding the mobile body 3, sometimes its own weight and the weight of the goods it is transporting are relatively heavy. When the mobile body 3 is relatively heavy, the car 54 carrying the mobile body 3 will sink due to this weight. At this time, a step difference may occur between the car 54 and the landing B3.

[0036] Next, use Figure 2 and Figure 3 This explains the potential difference in steps that may occur when passengers in car 54 travel on moving body 3. Additionally, in Figure 2 and Figure 3 The diagrams of the traction machine 51 and the vibration damping rubber 52 are omitted.

[0037] like Figure 2 As shown, a floor 60 is placed on the frame 58 of the car 54, separated from the car floor rubber 59. The car door 61 of the car 54 is guided to open and close by a threshold 62. Furthermore, a sensor 63 for detecting people passing through the car door 61 can be installed on the car door 61. A camera 64 for capturing images of the interior can be installed in the car 54. Assuming that when the car 54 is stopped at a landing, the upper surface of the floor 60 is at the same height as the floor of landing B3.

[0038] Figure 2 The image shows a perspective view of the car 54 when a portion of the movable body 3 is mounted on the car 54. The state where a portion of the movable body 3 is mounted on the car 54 refers to the state where one or more of the wheels supporting the movable body 3 are mounted on the door sill 62 or the floor 60, and one or more of the wheels are mounted on the landing B3. Alternatively, the state where a portion of the movable body 3 is mounted on the car 54 could also refer to the state where the legs of the movable body 3 are mounted, rather than the wheels. The state where a portion of the movable body 3 is mounted on the car 54 may occur when the movable body 3 is riding on the car 54 or when the movable body 3 is descending from the car 54.

[0039] The load applied to the floor 60 of the car 54 is supported on the floor of the machine room B2 via the car floor rubber 59, frame 58, spring buckle 55, main rope 53, traction machine 51, and vibration damping rubber 52. Approximately half the weight of the moving body 3 is applied to the car 54 when two of the four wheels of the moving body 3 are mounted on the car 54 and the lower surface of the moving body 3's shell is not in contact with the ground. The materials that are particularly prone to elastic deformation among the load-bearing materials—the car floor rubber 59, spring buckle 55, main rope 53, and vibration damping rubber 52—deform due to the weight of the moving body 3. This deformation causes the floor 60 to move downwards relative to the ground surface of the station B3, i.e., to sink.

[0040] Hereinafter, the difference between the height of the sunken floor 60 and the height of the ground at station B3 is also referred to as the sunken amount of floor 60. The length by which the car 54 sinks from the landing position is also referred to as the sunken amount of car 54. In particular, the deformation of the main rope 53 has a significant impact on the sunken amount.

[0041] Previously, when the car 54 sank due to its internal weight, if the sank amount exceeded a predetermined threshold such as 10mm, the car 54 was releveled. The sank was detected by the landing position detector 57. The releveling of the car 54 involved the following actions: when the car 54 sank, the traction machine 51 wound up the main rope 53, thereby moving the car 54 upwards. For example, during releveling, the car 54 moved such that the landing position detector 57 determined the appropriate position. Furthermore, even after such releveling, the floor 60 still sank to the amount the car floor rubber 59 was compressed.

[0042] like Figure 3 As shown, with all of the cars 54 of the moving body 3 in use, the total weight of the moving body 3 is applied to the floor 60. In this state, releveling can be performed based on the amount of subsidence of the cars 54. Furthermore, even after such releveling, the floor 60 still experiences the amount of subsidence of the car floor rubber 59.

[0043] Figure 4 and Figure 5 The image shows a perspective view of the car 54 as the moving body 3 descends from the car 54. The car 54 stops at the designated landing position. At this time, the amount of deformation of the car floor rubber 59 becomes the amount of subsidence of the floor 60.

[0044] As part of the moving body 3 descends from the car 54, it enters the same state as when part of the moving body 3 is in motion. In this state, approximately half the weight of the moving body 3 is removed from the floor 60, which bears the total weight of the moving body 3. The car floor rubber 59, spring buckle 55, main rope 53, and vibration damping rubber 52 deform in the direction of the restoring force due to the change in load. As these materials deform, the floor 60 and the car 54 move upward relative to the ground surface of the landing B3, i.e., they float.

[0045] Hereinafter, the length by which the car 54 floats from the landing position will also be referred to as the floatation amount of the car 54.

[0046] Furthermore, when the deformation of the car floor rubber 59 is small, the buoyancy and sag of the car 54 are approximately the same. Hereinafter, it is assumed that the deformation of the car floor rubber 59 is negligible compared to the deformation of the main rope 53, and that the buoyancy and sag of the car 54 are the same. Furthermore, let buoyancy and sag represent the buoyancy and sag of the car 54.

[0047] In any case, whether a portion of the moving body 3 is riding in car 54 or a portion of the moving body 3 is alighting from car 54, a step difference in the amount of subsidence and buoyancy occurs between floor 60 and the ground of landing B3. The permissible step difference for the moving body 3 is sometimes smaller than the threshold for releveling. Specifically, the threshold is ±10 mm, and the step difference for releveling ranges from -10 mm to +10 mm; in contrast, the permissible step difference is sometimes 5 mm. In this case, for example, even if the step difference between floor 6 and the ground of landing B3 is +8 mm, releveling is not performed because it is below the threshold. The moving body 3 may ride in or alight from car 54 while rubbing against the lower surface of the shell on the step difference. Furthermore, a larger step difference may still temporarily occur during the period until releveling of car 54 is performed.

[0048] Therefore, in the elevator system 1 of this embodiment, when the moving body 3 rides in the car 54 or when the moving body 3 gets off the car 54, the necessary amount of releveling is performed regardless of the threshold.

[0049] Next, use Figure 6 This section describes the detailed functional structure of elevator system 1. Elevator system 1 also includes a detector 10. The detector 10 can be installed on the moving body 3 or on the elevator device 50. The detector 10 has the function of at least one of a descent detection unit 11 and an anomaly detection unit 12. Alternatively, the detector 10 having the function of the descent detection unit 11 can be installed on either the moving body 3 or the elevator device 50. In this case, the other detector 10 having the function of the anomaly detection unit 12 can also be installed on the other of the moving body 3 and the elevator device 50. Furthermore, the detector 10 can communicate with the cooperating device 4 via the moving body 3 or via the elevator device 50.

[0050] The ride detection unit 11 detects whether the moving body 3 is boarding the car 54 or descending from the car 54. The anomaly detection unit 12 detects anomalies related to the movement of the moving body 3 when the moving body 3 is boarding the car 54 or descending from the car 54.

[0051] Functionally, the mobile body 3 includes an independent communication unit 31, a sensor unit 32, a weight detection unit 33, and a movement control unit 34. The independent communication unit 31 communicates with the cooperating device 4. The sensor unit 32 acquires detection values ​​from various sensors used for autonomous movement. For example, the sensor unit 32 may include a tilt sensor that measures the tilt of the mobile body 3 in the horizontal direction. The weight detection unit 33 detects the current total weight of the mobile body 3. For example, when the mobile body 3 is carrying goods, the weight detection unit 33 detects the weight of the goods. The weight detection unit 33 detects the current total weight based on its own weight and the weight of the goods. The movement control unit 34 controls the movement of the mobile body 3.

[0052] Functionally, the cooperative device 4 includes a communication unit 41, a cooperative unit 42, a calculation unit 43, and an execution unit 44. The communication unit 41 communicates with the control panel 2, the moving body 3, and the detector 10. The cooperative unit 42 controls the notification for utilizing the elevator device 50 between the moving body 3 and the control panel 2. The calculation unit 43 calculates the formal releveling amount, the preliminary releveling amount, the additional releveling amount, and the final releveling amount.

[0053] The calculation unit 43 calculates the amount of sinking or buoyancy caused by the load based on the load as the object and the physical properties of the object under hypothetical elastic deformation, and uses these as the formal releveling amount or the final releveling amount. The physical properties of the object include the elastic constant of each object, the length of the main rope 53, etc. For example, the calculation unit 43 sets half of the total weight of the moving body 3 as the load of the object to be calculated in the formal releveling amount, which is the weight of the moving body 3 when it is partially loaded into the car 54. For example, the calculation unit 43 sets the total weight of the moving body 3 as the load of the object to be calculated in the final releveling amount, which is the weight of the moving body 3 when it is fully loaded into the car 54.

[0054] The calculation unit 43 calculates the preliminary releveling amount in a way that is below the allowable step difference of the moving body 3. After calculating the formal releveling amount, the calculation unit 43 calculates the preliminary releveling amount in a way that is below the formal releveling amount. The calculation unit 43 calculates the additional releveling amount each time using the necessary information.

[0055] The calculation unit 43 can also calculate each releveling amount based on the stopping position of the car 54 when it stops at the floor. For example, if the car 54 moves by the pre-releveling amount and then moves by the formal releveling amount, the car 54 can also move by the amount obtained by subtracting the pre-releveling amount that has already been moved from the formal releveling amount, and use that amount as the formal releveling amount.

[0056] When the conditions are met, the actuator 44 sends instructions to the control panel 2 to perform formal releveling, preliminary releveling, additional releveling, and final releveling with formal releveling amount, preliminary releveling amount, additional releveling amount, and final releveling amount, respectively. That is, the actuator 44 causes the traction machine 51 to perform releveling, causing the car 54 to rise or fall.

[0057] The conditions for performing releveling also vary depending on the functions of each device. Among the conditions for performing releveling of the moving body 3, at least a first condition can be set that can predict the moment when the moving body 3 enters the car 54, and a second condition that can be set by the car descent detection unit 11 to detect the entry of the moving body 3 into the car 54.

[0058] Next, use Figure 7 This illustrates an example of performing re-leveling based on condition 1.

[0059] Figure 7 This is a flowchart illustrating an example of the actions performed by the elevator system in Implementation 1.

[0060] For example, if the positioning accuracy calculated by the movement control unit 34 of the moving body 3 is high, a re-leveling operation that meets the first condition is performed. When the moving body 3 decides to use the elevator device 50 to ride in the car 54, Figure 7 The flowchart begins. At the initial moment, moving body 3 is located near station B3.

[0061] In step S001, the independent communication unit 31 of the mobile body 3 sends the notification of boarding the car 54, the information of its current total weight detected by the weight detection unit 33, and the information of the permissible step difference of the mobile body 3 to the cooperating device 4.

[0062] Then, in step S002, the coordinating device 4 receives notifications and information from the moving body 3. The coordinating device 4 sends a call for the elevator based on the received notification to the control panel 2. The calculation unit 43 of the coordinating device 4 calculates the formal releveling amount based on the received weight. For example, if the received weight is 500 kg, the calculation unit 43 calculates the subsidence corresponding to 250 kg as the formal releveling amount. The calculation unit 43 calculates the preliminary releveling amount based on the received allowable step difference. At this time, the calculation unit 43 may also further use the formal releveling amount to calculate the preliminary releveling amount.

[0063] Then, in step S003, the control panel 2 stops the car 54 at the designated stop position on the floor where the mobile body 3 is waiting. In this state, the descent of the car 54 is 0. The cooperating device 4 receives the operating information of the car 54 and sends a boarding instruction to the mobile body 3.

[0064] Then, in step S004, the movement control unit 34 estimates the time when a portion of the moving body 3 boards the car 54. That is, if the moving body 3 moves by wheels, the movement control unit 34 estimates the time when at least one wheel moves from the threshold of the landing B3 to the threshold 62 of the car 54, assuming the moving body 3 is entirely present at the landing B3. The independent communication unit 31 sends the estimated time to the cooperating device 4.

[0065] Then, in step S005, the actuator 44 of the cooperating device 4 raises the car 54 by the traction machine 51 to prepare for re-leveling. That is, the cooperating device 4 raises the car 54 by the allowable step difference until a part of the moving body 3 is on the car 54.

[0066] Then, in step S006, the execution unit 44 determines whether it is time for the moving body 3 to board the car 54. If it is not time for that, the operation of step S006 is repeated.

[0067] If, in step S006, the elevator 54 becomes part of the moving body 3 and is carried by the elevator car 54, then step S007 is performed. In step S007, the actuator 44 raises the elevator car 54 by the formal releveling amount at that moment. That is, the elevator car 54 rises approximately simultaneously with the amount of weight of the descending moving body 3. As a result, the step difference between the landing B3 and the elevator car 54 can be suppressed. Furthermore, even when the formal releveling includes the elastic deformation of the elevator car floor rubber 59, the amount of descending that the elevator car 54 cannot detect, such as the amount of descent, can be prevented from being detected by the landing position detector 57.

[0068] Then, in step S008, the anomaly detection unit 12 performs anomaly detection processing when the moving body 3 is in the car 54. The execution unit 44 determines whether the anomaly detection unit 12 has detected an anomaly related to the movement of the moving body 3.

[0069] For example, when the anomaly detection unit 12 is provided on the moving body 3, anomaly detection processing can detect anomalies related to driving, such as the moving body 3 tilting more than a specified ratio relative to the horizontal direction, poor balance of the moving torque of the moving body 3, or the detection of an object hitting the lower surface of the housing of the moving body 3. In this case, the cooperating device 4 can also be regarded as the moving body 3 detecting anomalies related to driving.

[0070] For example, when the anomaly detection unit 12 is installed in the elevator device 50, it can detect anomalies related to travel, such as the moving body 3 stopping at an unexpected position or the moving body 3 colliding with a sensor installed on the side of the threshold 62, based on the results captured by the camera 64.

[0071] If no abnormality is detected in step S008, the operation in step S009 is performed. In step S009, the execution unit 44 determines whether the movement of the moving body 3 has been completed, that is, whether all of the moving body 3 has boarded the car 54. For example, if a notification of completion of boarding is received from the moving body 3, it is determined that the movement of the moving body 3 has been completed. If, in step S009, all of the moving body 3 has not boarded the car 54, the operations after step S008 are performed.

[0072] If it is determined in step S009 that all the mobile bodies 3 have boarded the car 54, that is, after all the mobile bodies 3 have boarded the car 54, the operation in step S010 is performed. In step S010, the actuator 44 raises the car 54 by the final re-leveling amount. The car 54 is then re-leveled by the final re-leveling amount, thereby making it easier for other mobile bodies or people to continue boarding the car 54.

[0073] Then, in step S011, the cooperating device 4 sends a notification that the ride has been completed to the control panel 2. The control panel 2 then causes the car 54 to start moving towards the destination floor.

[0074] If an anomaly related to the movement of the moving body 3 is detected in step S008, the operation in step S012 is performed. In step S012, the execution unit 44 performs additional re-leveling processing. In the additional re-leveling processing, the execution unit 44 raises or lowers the car 54 based on the additional re-leveling amount calculated by the calculation unit 43. In this case, the additional re-leveling amount can be a positive or negative value. Alternatively, the additional re-leveling amount can also be calculated based on the content detected by the anomaly detection unit 12. For example, the additional re-leveling amount can be calculated when the detection value of the tilt sensor of the moving body 3 is close to the horizontal direction. For example, the additional re-leveling amount can also be calculated sequentially by receiving feedback from external sensors such as the tilt sensor of the moving body 3 each time the car 54 is moved.

[0075] Furthermore, even if the car 54 increases the formal releveling amount by more than the allowable step difference before the moving body 3 enters in step S007, an anomaly can be detected in step S008. In this case, additional releveling is performed in step S012, and the moving body 3 can board the car 54.

[0076] After the action in step S012, the actions after step S008 are performed.

[0077] After the action in step S011, the actions in the flowchart end.

[0078] Furthermore, even if no abnormality is detected in step S008, the action of step S012 can be performed appropriately after step S007. That is, additional re-leveling of the car 54 can be performed appropriately during the period from when a part of the moving body 3 enters the car 54 until the moving body 3 has completely entered the car 54. In addition, in step S012, the cooperating device 4 can also send a command to the moving body 3 to stop it until the abnormality is eliminated.

[0079] Additionally, in step S004, the calculation unit 43 can also calculate the time when a portion of the mobile body 3 boards the car 54, instead of the motion control unit 34. In this case, the calculation unit 43 can also estimate the time when a portion of the mobile body 3 boards the car 54 based on the current position of the mobile body 3, the speed of the mobile body 3, and the time when the mobile body 3 begins to move. The communication unit 41 obtains various information from the mobile body 3. Furthermore, if a standby position of the mobile body 3 in the station B3 is preset, this standby position can also be used as the position of the mobile body 3.

[0080] Furthermore, the action under condition 1 also occurs when the moving body 3, riding on car 54, descends from car 54. In this case, it also occurs in conjunction with... Figure 7 The same actions as in the flowchart can be performed. Specifically, the following actions are performed.

[0081] In step S001, the independent communication unit 31 sends a notification to disembark from car 54 instead of a notification to board car 54.

[0082] In step S003, after the car 54 stops at the landing position, the cooperating device 4 sends a descending instruction to the moving body 3. In this state, the descent of the car 54 is 0.

[0083] In step S004, the motion control unit 34 estimates the moment when a portion of the moving body 3 descends from the car 54. That is, the motion control unit 34 estimates the moment when at least one of the wheels initially moves from the door 62 of the car 54 to the door 62 of the landing B3.

[0084] In step S005, the actuator 44 lowers the car 54 by the traction machine 51 to prepare for re-leveling. That is, before a part of the moving body 3 descends from the car 54, the car 54 is lowered by the allowable step difference.

[0085] In step S007, the execution unit 44 determines whether it is the moment when part of the moving body 3 descends from the car 54. If it is, in step S008, the execution unit 44 lowers the car 54 by the formal re-leveling amount. That is, the car 54 descends approximately simultaneously with the amount of weight of part of the floating moving body 3. As a result, the step difference between the landing B3 and the car 54 can be suppressed.

[0086] In step S008, the anomaly detection unit 12 performs anomaly detection processing when the moving body 3 descends from the car 54.

[0087] In step S009, the execution unit 44 determines whether the descent of the moving body 3 has been completed, that is, whether the entire moving body 3 has descended from the car 54. If the descent of the moving body 3 has been completed, in step S010, the execution unit 44 lowers the car 54 by the final re-leveling amount. By re-leveling the car 54 by the final re-leveling amount, it becomes easier for other moving bodies or people to board or alight from the car 54.

[0088] Alternatively, if at least the amount of formal re-leveling of the car 54 is controlled to rise or fall during boarding and alighting, then one or more of the preparatory re-leveling, additional re-leveling, and final re-leveling as other re-leveling may not be performed.

[0089] Next, use Figure 8 This illustrates an example of performing re-leveling based on condition 2.

[0090] Figure 8 This is a flowchart illustrating an example of the actions performed by the elevator system in Implementation 1.

[0091] For example, if the positioning accuracy calculated by the movement control unit 34 of the moving body 3 is low and a descent detection unit 11 is installed in the elevator system 1, a re-leveling operation that meets the second condition is performed. When the moving body 3 decides to use the elevator device 50 to ride in the car 54, Figure 8 The flowchart begins. At the initial moment, moving body 3 is located near station B3.

[0092] The actions of steps S001 to S003 are the same as those in the flowchart of the first condition. Furthermore, after step S003, the action of step S005 is performed, but the action of step S004 is not performed.

[0093] Following step S005, in step S101, the passenger descent detection unit 11 performs passenger descent detection processing. The execution unit 44 determines whether a portion of the moving body 3 has been detected boarding the car 54. Furthermore, detecting that a portion of the moving body 3 has boarded the car 54 can refer to the situation just before a portion of the moving body 3 is about to enter the car 54, or it can refer to the situation where a portion of the moving body 3 has already entered the car 54. That is, in the passenger descent detection processing, it is sufficient to detect any one of the following: just before a portion of the moving body 3 is about to board the car 54, at the moment a portion has already boarded, or immediately after a portion has boarded. If no portion of the moving body 3 is detected boarding the car 54 in step S101, the operation of step S101 is repeated.

[0094] If, in step S101, it is detected that part of the moving body 3 is riding in the car 54, the operation in step S102 is performed. In step S102, the actuator 44 raises the car 54 by the formal re-leveling amount.

[0095] Then, the actions following step S008 are performed in the same manner as in the flowchart of the first condition.

[0096] Furthermore, the action under condition 2 also occurs when the moving body 3, which has boarded car 54, descends from car 54. In this case, it is also performed in conjunction with... Figure 8 The same actions as in the flowchart can be performed. Specifically, the following actions are performed.

[0097] In step S101, the passenger descent detection unit 11 performs passenger descent detection processing. The execution unit 44 determines whether it detects that a portion of the moving body 3 has descended from the car 54. Furthermore, detecting that a portion of the moving body 3 has descended from the car 54 can refer to the situation just before a portion of the moving body 3 is about to descend from the car 54, or it can refer to the situation after a portion of the moving body 3 has already descended from the car 54. That is, in the passenger descent detection processing, it is sufficient to detect any one of the following: just before a portion of the moving body 3 is about to descend from the car 54, at the instant a portion has already descended, or immediately after a portion has descended. If no portion of the moving body 3 is detected descending from the car 54 in step S101, the operation of step S101 is repeated.

[0098] If, in step S101, a portion of the moving body 3 is detected descending from the car 54, step S102 is performed. In step S102, the actuator 44 lowers the car 54 by the required re-leveling amount.

[0099] Then, they also used Figure 9 and Figure 10 The following examples illustrate the ride descent detection unit 11 and the ride descent detection process. The next two examples are examples where the ride descent detection unit 11 is installed in the elevator device 50.

[0100] Figure 9 This is a diagram showing the first example of a detector for an elevator system in Embodiment 1. Figure 10 This is a diagram showing a second example of the detector for the elevator system in Embodiment 1. Additionally, in Figure 9 and Figure 10 The illustration of the moving body 3 is omitted in the text.

[0101] like Figure 9 As shown, detector 10 and passenger descent detection unit 11 are multi-beam door sensors installed on car door 61. That is, passenger descent detection unit 11 is sensor 63. Passenger descent detection unit 11 can detect the passage of moving body 3 between car doors 61. In passenger descent detection processing, when passenger descent detection unit 11 changes from a state where no object is detected between car doors 61 to a state where an object is detected, it detects whether part of moving body 3 rides on car 54 or part of moving body 3 descends from car 54.

[0102] like Figure 10As shown, detector 10 and passenger descent detection unit 11 are Hall motion sensors installed on the door frame of landing B3. Passenger descent detection unit 11 can detect when a moving body 3 passes through the door frame, i.e., between the landing doors. In passenger descent detection processing, when the state from which no object was detected by the Hall motion sensor to the state of detecting an object changes, passenger descent detection unit 11 detects whether part of the moving body 3 rides on the elevator car 54 or part of the moving body 3 descends from the elevator car 54. In addition, in passenger descent detection processing, passenger descent detection unit 11 can also detect whether part of the moving body 3 rides on the elevator car 54 or part of the moving body 3 descends from the elevator car 54 when an object approaches the threshold 62, based on the detection results of the Hall motion sensor.

[0103] In addition to the first and second examples, the detector 10 and the passenger descent detection unit 11 can be a contact sensor installed on the threshold 62 or a camera 64. For example, the passenger descent detection unit 11 can also be a side contact sensor installed on the landing B3 side of the threshold 62. For example, if the detector 10 is a camera 64, the passenger descent detection unit 11 can also detect whether part of the moving body 3 is riding on the elevator car 54 or part of the moving body 3 is descending from the elevator car 54 based on the position of the image of the moving body 3 captured by the camera 64.

[0104] Alternatively, the detector 10 can also be installed on the moving body 3. For example, the descent detection unit 11 can be any sensor or camera used during the movement of the moving body 3. The descent detection unit 11 can also detect the passage of the boundary portion of the car 54, such as the threshold 62, thereby detecting whether a part of the moving body 3 is boarding the car 54 or whether a part of the moving body 3 is descending from the car 54. Furthermore, the descent detection unit 11 can also be a radio wave receiver. This radio wave receiver can detect whether a part of the moving body 3 is boarding the car 54 or whether a part of the moving body 3 is descending from the car 54 based on the reception strength of the landing radio waves from the beacon installed at landing B3 and the car radio waves installed at the car 54.

[0105] According to Embodiment 1 described above, the elevator system 1 includes a communication unit 41, a calculation unit 43, and an execution unit 44. The calculation unit 43 calculates the formal releveling amount based on the weight previously sent from the moving body 3. The execution unit 44 performs releveling of the car 54 by raising or lowering the car 54 by the formal releveling amount when a part of the moving body 3 is riding in the car 54 or when a part of the moving body 3 is disembarking from the car 54. For example, "when a part of the moving body 3 is riding in the car 54" or "when a part of the moving body 3 is disembarking from the car 54" means that a part of the moving body 3 is riding in the car 54 while the other parts of the moving body 3 are not. Therefore, no special communication is required when the moving body 3 is riding in or disembarking from the car 54. As a result, the moving body 3 can quickly ride in or disembark from the car 54.

[0106] Furthermore, in the elevator control system described in Patent Document 1, the moving body 3 needs special functions such as detecting the step difference and communicating with the elevator device based on the detected step difference. In elevator system 1, the moving body 3 only needs to send information indicating its weight. Therefore, even with the simple structure of the moving body 3, it is possible to control the elevator device 50.

[0107] Furthermore, in most cases, releveling of the car 54 cannot be detected when the amount of descent or levitation of the car 54 does not exceed a threshold. In this situation, if the allowable step difference of the moving body 3 is smaller than the threshold, the operation of the moving body 3 may also stop without releveling. In elevator system 1, the movement of the car 54 is the formal releveling amount, regardless of the actual amount the car 54 moves. Therefore, the possibility of the moving body 3 being unable to move due to step difference can be prevented.

[0108] Furthermore, when the first condition can be applied, the communication unit 41 receives from the moving body 3 the time when a portion of the moving body 3 boards the car 54 or the time when a portion of the moving body 3 disembarks from the car 54. Alternatively, the calculation unit 43 estimates this time. At that time, the execution unit 44 causes the car 54 to rise or fall by the formal releveling amount. Therefore, the elevator system 1 is able to perform formal releveling at more accurate timing.

[0109] Furthermore, the elevator system 1 also includes a descent detection unit 11. The descent detection unit 11 can be a sensor installed on the moving body 3. The descent detection unit 11 can also be a sensor installed on the elevator unit 50 that detects when an object passes through the car door 61. The descent detection unit 11 can also be installed on the elevator unit 50, detecting when the moving body 3 passes through the car door 61 based on an image obtained by capturing the interior of the car 54. When the second condition of the presence of the descent detection unit 11 is applicable, the execution unit 44, upon detecting the descent of the moving body 3, causes the car 54 to rise or fall by the formal releveling amount. Therefore, even when the timing used in the first condition cannot be calculated, formal releveling can be performed at a more accurate timing.

[0110] Furthermore, the actuator 44 can also raise or lower the car 54 by a preparatory releveling amount before a portion of the moving body 3 alights or lands. The preparatory releveling is set within the allowable step difference of the moving body 3. Therefore, the elevator system 1 can preemptively suppress the generation of step difference within the range that the moving body 3 can alight or land.

[0111] Furthermore, after performing the formal releveling, the actuator 44 raises or lowers the car 54 by an additional releveling amount. In particular, the calculation unit 43 can also calculate the additional releveling amount based on the detection value of the tilt sensor of the moving body 3 being close to the horizontal direction. Therefore, even if a step difference occurs after part of the moving body 3 has ridden or fallen on the car 54, which is different from the expected amount, the elevator system 1 can control the car 54 to eliminate the step difference.

[0112] Furthermore, if the actuator 44 detects an anomaly related to the movement of the moving body 3, it raises or lowers the car 54 by adding a re-leveling amount. This anomaly can also be detected by the anomaly detection unit 12 provided on the moving body 3. Therefore, in particular, the elevator system 1 can detect step differences caused by an anomaly in the movement of the moving body 3 and can control the car 54 to eliminate such step differences.

[0113] Furthermore, the calculation unit 43 calculates the amount of descent of the car 54 when a portion of the moving body 3 is on the car 54 but the rest is not, as the formal re-leveling amount. The calculation unit 43 also calculates the amount of descent when the entire moving body 3 is on the car 54, as the final re-leveling amount. As the final re-leveling, the execution unit 44 moves the car 54 such that it rises or falls from the stop position by the final re-leveling amount. Therefore, the elevator system 1 can adjust the position of the car 54 so that objects other than the moving body 3 can easily board and alight from the car 54.

[0114] Implementation method 2.

[0115] Figure 11 This is a functional block diagram of the elevator system in Embodiment 2. Furthermore, parts that are identical or corresponding to those in Embodiment 1 are labeled with the same reference numerals. Descriptions of these parts are omitted.

[0116] In embodiment 2, the elevator system 1 also utilizes a weighing device 65 installed in the car 54. The weighing device 65 measures the weight of the object sitting on the floor 60 as a weighing value.

[0117] For example, the calculation unit 43 can also utilize the weighing value measured by the weighing device 65 when calculating the additional re-leveling amount. As an example, in Figure 7 In step S012 of the flowchart, the calculation unit 43 calculates the additional re-leveling amount based on the current weighing value of the weighing device 65 being close to half of the total weight of the mobile body 3. This is because, for example, even if half of the multiple wheels of the mobile body 3 are hypothetically mounted on the car 54, if the weighing value does not meet the requirement of half of the total weight, the lower surface of the housing of the mobile body 3 may end up on any threshold.

[0118] For example, the calculation unit 43 can also predict the predicted time shift based on information about the total weight of the moving body 3 and the time when a part of the moving body 3 boards the elevator car 54 or the time when a part of the moving body 3 disembarks from the elevator car 54. The predicted time shift represents the time from a certain point that becomes a base point until the moving body 3 boards the elevator car 54 or until the moving body 3 disembarks from the elevator car 54, during which the weighing value of the weighing device 65 changes. In this case, if the actual time shift of the weighing value measured by the weighing device 65 deviates from the predicted time shift, the anomaly detection unit 12 detects an anomaly related to the movement of the moving body 3. For example, if the difference between the predicted weighing value in the predicted time shift and the actual weighing value in the actual time shift is greater than a predetermined threshold, the anomaly detection unit 12 determines that there are two time shift deviations.

[0119] In the event of such an anomaly detection, the calculation unit 43 can also calculate the additional re-leveling amount in such a way that the current weighing value of the weighing device 65 is close to the value shown by the predicted time shift.

[0120] According to Embodiment 2 described above, the calculation unit 43 calculates the additional releveling amount by using a weighing value of the weighing device 65 that is approximately half the weight received from the moving body 3. Therefore, the elevator system 1 can effectively eliminate the contact between the step difference and the moving body 3.

[0121] Furthermore, the calculation unit 43 calculates the predicted time shift. The calculation unit 43 calculates the additional releveling amount in a manner that brings the current weighing value of the weighing device 65 close to the value indicated by the predicted time shift. Specifically, when performing additional releveling, the execution unit 44 raises or lowers the car 54 until the weighing value becomes close to the value indicated by the predicted time shift. Therefore, the elevator system 1 can perform additional releveling in a posture that resembles a hypothetical moving body 3.

[0122] Next, use Figure 12 This section provides an example of the hardware that constitutes the cooperative device 4.

[0123] Figure 12 This is a hardware structure diagram of the cooperative device of the elevator system in implementation method 1 or 2.

[0124] The functions of the collaborative device 4 can be implemented by a processing circuit. For example, the processing circuit has at least one processor 100a and at least one memory 100b. For example, the processing circuit has at least one piece of dedicated hardware 200.

[0125] When the processing circuit has at least one processor 100a and at least one memory 100b, the functions of the cooperative device 4 are implemented by software, firmware, or a combination of software and firmware. At least one of the software and firmware is described as a program. At least one of the software and firmware is stored in at least one memory 100b. The at least one processor 100a implements the functions of the cooperative device 4 by reading and executing the program stored in the at least one memory 100b. The at least one processor 100a is also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, and DSP. For example, the at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, a disk, floppy disk, optical disk, high-density disk, mini-disk, DVD, etc.

[0126] When the processing circuit has at least one dedicated hardware 200, the processing circuit is implemented, for example, by a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the cooperative device 4 is implemented by a separate processing circuit. For example, each function of the cooperative device 4 is implemented uniformly by a processing circuit.

[0127] Regarding the various functions of the cooperative device 4, some can be implemented by dedicated hardware 200, and others by software or firmware. For example, the function of making various decisions regarding the execution unit 44 can be implemented by the processing circuit, which is the dedicated hardware 200, while functions other than the function of making various decisions by the execution unit 44 can be implemented by at least one processor 100a reading and executing the program stored in at least one memory 100b.

[0128] In this way, the processing circuit implements the functions of the cooperative device 4 through hardware 200, software, firmware, or a combination thereof.

[0129] Although not shown in the figure, the functions of the control panel 2 and the moving body 3 are also implemented by the same processing circuit that implements the functions of the cooperative device 4.

[0130] Furthermore, at least some of the functions of the collaborative device 4 can also be implemented on a cloud server. In this case, the processing circuit consists of multiple partial circuits. These multiple partial processing circuits are respectively located in multiple devices constituting the cloud server. The multiple devices constituting the cloud server can also be located in different buildings.

[0131] Furthermore, at least some of the functions of the cooperating device 4 can also be located on the control panel 2. For example, if all the functions of the cooperating device 4 are located on the control panel 2, the control panel 2 can communicate directly with the moving body 3, thereby realizing the elevator system 1.

[0132] Alternatively, a mobile body control device can be provided between the cooperating device 4 and the mobile body 3, and this mobile body control device controls the movement of the mobile body 3. In this case, the cooperating device 4 receives information from the mobile body 3 from the mobile body control device. The cooperating device 4 then sends the information to the mobile body 3 via the mobile body control device.

[0133] In summary, the preferred structures of this disclosure include the structures shown below as appendices.

[0134] (Postscript 1)

[0135] An elevator system, wherein the elevator system has:

[0136] The communication unit receives notifications from the autonomously moving body about boarding or disembarking from the elevator car, and information indicating the weight of the moving body.

[0137] The calculation unit calculates the formal re-leveling amount of the car based on the received weight of the moving body; and

[0138] An actuator, which, when a part of the moving body is riding in the car or when a part of the moving body is descending from the car, raises or lowers the car by driving the traction machine of the car by the formal releveling amount.

[0139] (Postscript 2)

[0140] According to the elevator system described in Appendix 1, wherein,

[0141] The communication unit receives from the mobile body the time when a part of the mobile body boards the elevator car or the time when a part of the mobile body disembarks from the elevator car.

[0142] The actuator raises or lowers the car by the formal releveling amount when it receives a message from the moving body at the moment when a part of the moving body boards the car or when a part of the moving body disembarks from the car.

[0143] (Note 3)

[0144] According to the elevator system described in Appendix 1, wherein,

[0145] The calculation unit estimates, based on the position of the moving body, the speed of the moving body, and the time when the moving body begins to move, the time when a portion of the moving body boards the elevator car or the time when a portion of the moving body disembarks from the elevator car.

[0146] The execution unit raises or lowers the car by the formal releveling amount at the moment when the calculation unit estimates that a part of the moving body boards the car or a part of the moving body disembarks from the car.

[0147] (Note 4)

[0148] According to the elevator system described in Appendix 1, wherein,

[0149] The elevator system also includes a descent detection unit that detects whether a portion of the moving body is riding in the car or a portion of the moving body is descending from the car.

[0150] If the descent detection unit detects that a part of the moving body is riding in the car or a part of the moving body is descending from the car, the actuator raises or lowers the car by the formal releveling amount.

[0151] (Note 5)

[0152] According to the elevator system described in Appendix 4, wherein...

[0153] The descent detection unit is a sensor installed on the moving body.

[0154] (Note 6)

[0155] According to the elevator system described in Appendix 4, wherein...

[0156] The descent detection unit is a sensor installed in the elevator device that detects when an object passes through the car door.

[0157] (Note 7)

[0158] According to the elevator system described in Appendix 4, wherein...

[0159] The descent detection unit is installed in the elevator device and detects whether the moving body has passed through the car door based on the image obtained by photographing the interior of the car.

[0160] (Note 8)

[0161] According to any one of the appendices 1 to 7, the elevator system wherein,

[0162] The communication unit receives information from the mobile body regarding the permissible ground step difference, i.e., the permissible step difference, during the movement of the mobile body.

[0163] Before a part of the moving body boards the car or before a part of the moving body alights from the car, the actuator raises or lowers the car by a pre-releveling amount set within the allowable step difference via the traction machine.

[0164] (Note 9)

[0165] According to any one of the appendices 1 to 8, the elevator system wherein,

[0166] After the car rises or falls by the formal releveling amount, the actuator uses the traction machine to raise or lower the car by an additional releveling amount.

[0167] (Postscript 10)

[0168] According to the elevator system described in Appendix 9, wherein...

[0169] The communication unit receives the detection value from the tilt sensor, which measures the tilt of the moving body relative to the horizontal direction.

[0170] The calculation unit calculates the additional re-leveling amount in such a way that the detection value of the tilt sensor is close to the horizontal direction.

[0171] (Postscript 11)

[0172] According to the elevator system described in Appendix 9, wherein...

[0173] The calculation unit calculates the additional releveling amount in such a way that the scale value of the weighing device installed in the car is close to half of the weight received from the moving body.

[0174] (Postscript 12)

[0175] According to any one of the appendices 9 to 11, the elevator system wherein,

[0176] If, after the car has risen or fallen by the formal releveling amount, the moving body detects an abnormality related to travel, the actuator raises or falls the car by the additional releveling amount based on the abnormality detected by the moving body.

[0177] (Postscript 13)

[0178] The elevator system according to any one of Appendices 9 to 12, wherein,

[0179] The elevator system also includes an anomaly detection unit, which is installed in the elevator device to detect anomalies related to the movement of the moving body when the moving body is riding in the car or descending from the car.

[0180] If the anomaly detection unit detects an anomaly after the car has risen or fallen by the formal releveling amount, the execution unit causes the car to rise or fall by the additional releveling amount.

[0181] (Postscript 14)

[0182] According to any one of the appendices 9 to 13, the elevator system wherein,

[0183] The communication unit receives the time when a part of the mobile body boards the elevator car or the time when a part of the mobile body disembarks from the elevator car.

[0184] The calculation unit predicts the time shift of the weight inside the car that changes before the mobile body boards the car or before the mobile body disembarks from the car, based on the weight and time received from the mobile body.

[0185] If the predicted time shift calculated by the calculation unit deviates from the time shift of the scale value measured by the weighing device of the car, the execution unit raises or lowers the car by the additional releveling amount.

[0186] (Postscript 15)

[0187] According to the elevator system described in Appendix 14, wherein,

[0188] As the additional releveling amount, the actuator raises or lowers the car until the scale value measured by the weighing device becomes close to the value of the predicted time shift.

[0189] (Postscript 16)

[0190] According to any one of the appendices 1 to 15, the elevator system wherein,

[0191] The calculation unit calculates the amount by which the car sinks when a part of the moving body rides in the car and the other part of the moving body does not ride in the car, and uses this as the formal releveling amount.

[0192] (Postscript 17)

[0193] According to the elevator system described in Appendix 16, wherein,

[0194] The calculation unit calculates the amount of car sinking when the entire moving body is inside the car, and uses this as the final re-leveling amount.

[0195] The actuator moves the car via the traction machine after all the moving body has boarded the car or after all the moving body has disembarked from the car, so that the car rises or falls by the final re-leveling amount from the stopping position.

Claims

1. An elevator system, wherein, This elevator system has the following features: The communication unit receives notifications from the autonomously moving body about boarding or disembarking from the elevator car, and information indicating the weight of the moving body. The calculation unit calculates the formal re-leveling amount of the car based on the received weight of the moving body; and An actuator, which, when a part of the moving body is riding in the car or when a part of the moving body is descending from the car, raises or lowers the car by driving the traction machine of the car by the formal releveling amount.

2. The elevator system according to claim 1, wherein, The communication unit receives from the mobile body the time when a part of the mobile body boards the elevator car or the time when a part of the mobile body disembarks from the elevator car. The actuator raises or lowers the car by the formal releveling amount when it receives a message from the moving body at the moment when a part of the moving body boards the car or when a part of the moving body disembarks from the car.

3. The elevator system according to claim 1, wherein, The calculation unit estimates, based on the position of the moving body, the speed of the moving body, and the time when the moving body begins to move, the time when a portion of the moving body boards the elevator car or the time when a portion of the moving body disembarks from the elevator car. The execution unit raises or lowers the car by the formal releveling amount at the moment when the calculation unit estimates that a part of the moving body boards the car or a part of the moving body disembarks from the car.

4. The elevator system according to claim 1, wherein, The elevator system also includes a descent detection unit that detects whether a portion of the moving body is riding in the car or a portion of the moving body is descending from the car. If the descent detection unit detects that a part of the moving body is riding in the car or a part of the moving body is descending from the car, the actuator raises or lowers the car by the formal releveling amount.

5. The elevator system according to claim 4, wherein, The descent detection unit is a sensor installed on the moving body.

6. The elevator system according to claim 4, wherein, The descent detection unit is a sensor installed in the elevator device that detects when an object passes through the car door.

7. The elevator system according to claim 4, wherein, The descent detection unit is installed in the elevator device and detects whether the moving body has passed through the car door based on the image obtained by photographing the interior of the car.

8. The elevator system according to any one of claims 1 to 7, wherein, The communication unit receives information from the mobile body regarding the permissible ground step difference, i.e., the permissible step difference, during the movement of the mobile body. Before a part of the moving body boards the car or before a part of the moving body alights from the car, the actuator raises or lowers the car by a pre-releveling amount set within the allowable step difference via the traction machine.

9. The elevator system according to any one of claims 1 to 7, wherein, After the car rises or falls by the formal releveling amount, the actuator uses the traction machine to raise or lower the car by an additional releveling amount.

10. The elevator system according to claim 9, wherein, The communication unit receives the detection value from the tilt sensor, which measures the tilt of the moving body relative to the horizontal direction. The calculation unit calculates the additional re-leveling amount in such a way that the detection value of the tilt sensor is close to the horizontal direction.

11. The elevator system according to claim 9, wherein, The calculation unit calculates the additional releveling amount in such a way that the scale value of the weighing device installed in the car is close to half of the weight received from the moving body.

12. The elevator system according to claim 9, wherein, If, after the car has risen or fallen by the formal releveling amount, the moving body detects an abnormality related to travel, the actuator raises or falls the car by the additional releveling amount based on the abnormality detected by the moving body.

13. The elevator system according to claim 9, wherein, The elevator system also includes an anomaly detection unit, which is installed in the elevator device to detect anomalies related to the movement of the moving body when the moving body is riding in the car or descending from the car. If the anomaly detection unit detects an anomaly after the car has risen or fallen by the formal releveling amount, the execution unit causes the car to rise or fall by the additional releveling amount.

14. The elevator system according to claim 9, wherein, The communication unit receives the time when a part of the mobile body boards the elevator car or the time when a part of the mobile body disembarks from the elevator car. The calculation unit predicts the time shift of the weight inside the car that changes before the mobile body boards the car or before the mobile body disembarks from the car, based on the weight and time received from the mobile body. If the predicted time shift calculated by the calculation unit deviates from the time shift of the scale value measured by the weighing device of the car, the execution unit raises or lowers the car by the additional releveling amount.

15. The elevator system according to claim 14, wherein, As the additional releveling amount, the actuator raises or lowers the car until the scale value measured by the weighing device becomes close to the value of the predicted time shift.

16. The elevator system according to any one of claims 1 to 7, wherein, The calculation unit calculates the amount by which the car sinks when a part of the moving body rides in the car and the other part of the moving body does not ride in the car, and uses this as the formal releveling amount.

17. The elevator system according to claim 16, wherein, The calculation unit calculates the amount of car sinking when the entire moving body is inside the car, and uses this as the final re-leveling amount. The actuator moves the car via the traction machine after all the moving body has boarded the car or after all the moving body has disembarked from the car, so that the car rises or falls by the final re-leveling amount from the stopping position.

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