Elevator system

Abstract

To provide an elevator system that is able to control a self-propelled device so as not to prevent evacuation of a user in the event of a disaster.SOLUTION: An elevator system according to one embodiment includes congestion state detection means, evacuation floor determination means, and operation control means. The congestion state detection means detects a congestion state of a preset first evacuation floor when an anomaly occurs on any floor while a self-propelled device is riding in an elevator car. The evacuation floor determination means determines, as a floor for evacuating the self-propelled device, a first evacuation floor or a second evacuation floor different from the first evacuation floor, based on the congestion state of the first evacuation floor detected by the congestion state detection means. The operation control means moves the elevator car to the first evacuation floor or second evacuation floor determined by the evacuation floor determination means and notifies a self-propelled control device to cause a self-propelled device to get off the elevator car.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to an elevator system that operates in conjunction with an autonomous self-propelled device. [Background technology]

[0002] In recent years, self-propelled devices (autonomous robots) have come to be used for security and baggage transportation within buildings. When a destination is input into the self-propelled device, it moves to the destination while avoiding obstacles and performs various tasks at the destination. By linking with the elevator system, the self-propelled device can move to each floor using the elevator car.

[0003] In the event of a disaster such as a fire or an earthquake, the self-propelled device usually determines its own evacuation floor. In this case, if the evacuation floor of the self-propelled device is determined to be the same as that of the user, the users and the self-propelled device will gather at the landing, hindering the evacuation of the users. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5787806 [Patent Document 2] Patent No. 7097533 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, an object of the present invention is to provide an elevator system capable of controlling a self-propelled device so as not to hinder the evacuation of users in the event of a disaster. [Means for solving the problem]

[0006] An elevator system according to one embodiment includes an elevator control device communicably connected to a self-propelled control device that controls the operation of an autonomous self-propelled device. The elevator control device includes a crowded situation detection means, an evacuation floor determination means, and an operation control means. The crowded situation detection means detects the crowded situation of a first evacuation floor set in advance when an abnormality occurs at any floor while the self-propelled device is in the car. The evacuation floor determination means determines the floor to which the self-propelled device is to evacuate to the first evacuation floor or a second evacuation floor different from the first evacuation floor, based on the crowded situation of the first evacuation floor detected by the crowded situation detection means. The operation control means moves the car to the first evacuation floor or the second evacuation floor determined by the evacuation floor determination means, and notifies the self-propelled control device to disembark the self-propelled device. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram showing the configuration of an elevator system according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of the configuration of the self-propelled device in the embodiment. [Diagram 3] FIG. 3 is a diagram showing an example of a call table for a self-propelled device in the embodiment. [Figure 4] FIG. 4 is a flowchart showing a process for determining an evacuation floor for a self-propelled device in the embodiment. [Diagram 5] FIG. 5 is a diagram showing an example of detecting the crowdedness of a hall in the embodiment. [Figure 6] FIG. 6 is a diagram showing an example of detecting a situation inside a car in the embodiment. [Figure 7] FIG. 7 is a diagram showing an example of a case where the first evacuation floor is not crowded in the embodiment. [Figure 8] FIG. 8 is a diagram showing an example of a case where the first evacuation floor is crowded in the embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a case where a self-propelled device is placed on standby in a car in the embodiment. [Figure 10] FIG. 10 is a diagram showing an example of a variation in which a plurality of cars are present and the second evacuation floor is determined for each car. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment will be described with reference to the drawings. In addition, the disclosure is merely an example, and the invention is not limited to the contents described in the following embodiments. Modifications that a person skilled in the art can easily conceive are naturally included in the scope of the disclosure. In order to make the explanation clearer, the size, shape, etc. of each part may be changed from the actual embodiment and shown diagrammatically. In multiple drawings, corresponding elements may be given the same reference numerals, and detailed explanations may be omitted.

[0009] FIG. 1 is a block diagram showing the configuration of an elevator system according to one embodiment, in which an elevator control device and a control device of an autonomous self-propelled device are connected so as to be able to communicate with each other.

[0010] The car 11 moves up and down in the elevator shaft by driving a hoist (not shown) under the control of the elevator control device 20. An in-car camera 12 is installed inside the car 11. The in-car camera 12 is installed, for example, on the ceiling surface inside the car 11, and continuously captures images of the conditions inside the car while the car 11 is in operation. The in-car camera 12 is connected to the elevator control device 20 via a cable (not shown). Note that the installation location of the in-car camera 12 is not limited to the ceiling surface, and may be anywhere that allows the entire interior of the car to be captured.

[0011] The self-propelled device 13 is an autonomous robot that performs, for example, baggage delivery, security, cleaning, etc., and can move between floors in a building by riding in the car 11. The self-propelled device 13 acts according to instructions from the self-propelled control device 14. The self-propelled device 13 and the self-propelled control device 14 are connected by wireless communication.

[0012] The self-propelled device 14 is connected to the elevator control device 20 via wireless communication and controls the operation of the self-propelled device 13. When a destination is input to the self-propelled device 13, the self-propelled device 14 determines the destination floor corresponding to the destination, and transmits destination call information including the destination floor and departure floor information to the elevator control device 20 together with the identification information of the self-propelled device 13.

[0013] A platform call button 16, a platform door 17, and a platform camera 18 are installed at the platform 15 on each floor. The platform call button 16 is a button that allows users to register a platform call. Note that a "platform call" is a call signal that is registered by operating the platform call button 16 installed at the platform on each floor, and includes information on the registered floor and destination direction. In contrast, a "car call" is a call signal that is registered by operating a destination call button (not shown) installed in the car 11, and includes information on the destination floor.

[0014] The landing door 17 is installed at the arrival gate of the car 11 so as to be freely opened and closed. The landing door 17 engages with the car door of the car 11 to open and close. The power source (door motor) is on the car 11 side, and the landing door 17 simply opens and closes following the car door.

[0015] The landing camera 18 is installed at least on a first evacuation floor, which will be described later, and captures the situation of the landing on the first evacuation floor. The landing camera 18 may be installed anywhere, for example, near the landing door 17, as long as it can capture images of users and the self-propelled device 13 present around the landing 15. The image of the landing 15 captured by the landing camera 18 is transmitted to the elevator control device 20 in real time. Note that the landing camera 18 may be installed at the landing on each floor, and an image of the landing on each floor may be transmitted to the elevator control device 20 in real time.

[0016] The abnormality detection unit 19 detects an abnormality such as a fire occurring in the building. The abnormality detection unit 19 includes, for example, a fire detector and an earthquake detector. When the abnormality detection unit 19 is a fire detector, it is installed on each floor and transmits a signal that a fire has occurred on any floor to the elevator control device 20 by detecting smoke generated on that floor. When the abnormality detection unit 19 is an earthquake detector, it is installed, for example, at the bottom of the elevator shaft and transmits an earthquake signal to the elevator control device 20 by detecting earthquake shaking. In the event of an earthquake, floors in the building that are dangerous due to earthquake shaking are determined in advance, and evacuation floors (first evacuation floor / second evacuation floor) described later are set so that those floors are avoided.

[0017] The elevator control device 20 is made up of a computer equipped with a CPU, ROM, RAM, etc., and controls the entire elevator. In this embodiment, the elevator control device 20 includes a call storage unit 21, an operation control unit 22, a congestion state detection unit 23, an evacuation floor determination unit 24, a communication unit 25, and an in-car state detection unit 26.

[0018] The call storage unit 21 stores platform calls registered by operating platform call buttons 16 installed at the platform of each floor, and car calls registered by operating car call buttons (not shown) installed in the car 11. The call storage unit 21 also has a call table 21a for the self-propelled devices. The call table 21a for the self-propelled devices stores destination call information (departure floor, destination floor) transmitted from the self-propelled control device 14 in association with the identification information of the self-propelled device 13.

[0019] The operation control unit 22 performs operation control such as moving the car 11 to each floor based on the hall calls, car calls, and destination calls stored in the call memory unit 21. In addition, the operation control unit 22 performs supervisory operation control for moving the car 11 to an evacuation floor in the event of a fire, earthquake, or the like. In this embodiment, in the event of a fire, earthquake, or the like, the operation control unit 22 has a function of performing wireless communication with the self-propelled control device 14 via the communication unit 25 and performing control for moving the self-propelled device 13 to an evacuation floor (first evacuation floor or second evacuation floor).

[0020] The crowded state detection unit 23 detects the crowded state of the first evacuation floor when an abnormality that has occurred on any floor is detected by the abnormality detection unit 19. Specifically, the crowded state detection unit 23 analyzes and processes images obtained from the hall camera 18 installed on the first evacuation floor to determine the number of users and the number of self-propelled devices 13 at the hall 15 on the first evacuation floor, and judges whether or not it is crowded based on these numbers.

[0021] The evacuation floor determination unit 24 determines the floor to which the self-propelled device 13 is to be evacuated to the first evacuation floor or a second evacuation floor different from the first evacuation floor, based on the congestion state of the first evacuation floor detected by the congestion state detection unit 23. The "first evacuation floor" exists as a floor to which users are to be evacuated when a fire, earthquake, or the like occurs, and is set in advance to a floor from which users can immediately evacuate to the ground, for example, a reference floor. The first evacuation floor is not limited to one, and multiple floors, for example, a reference floor, an intermediate floor, a rooftop floor, and the like, may be set as the first evacuation floor. In addition, when an abnormality occurs at the first evacuation floor, another first evacuation floor may be set. Depending on the congestion state of the landing 15 of the first evacuation floor, not only users but also the self-propelled device 13 may be evacuated from the first evacuation floor. On the other hand, the "second evacuation floor" is a floor different from the first evacuation floor, and is set when the self-propelled device 13 is an obstacle to the evacuation of users at the first evacuation floor. A method of determining the floor to which the self-propelled device 13 is to be evacuated will be described later.

[0022] The communication unit 25 controls communication of data to the self-propelled device 13 via the self-propelled control device 14. The communication unit 25 notifies the self-propelled control device 14 of the evacuation floor (first evacuation floor or second evacuation floor) of the self-propelled device 13 determined by the evacuation floor determination unit 24.

[0023] The car interior situation detection unit 26 analyzes and processes the image obtained from the car interior camera 12 to detect the situation inside the car 11. The situation inside the car 11 includes the number of users, the number of self-propelled devices 13, and further, the riding positions.

[0024] FIG. 2 is a block diagram showing the functional configuration of the self-propelled device 13. As shown in FIG. The self-propelled device 13 is equipped with a control unit 31, a sensor 32, a communication device 33, an operation unit 34, a display unit 35, a memory unit 36, a drive unit 37, and the like.

[0025] The control unit 31 is composed of a CPU, and by starting a predetermined program, performs control for autonomous movement within a predetermined area including each floor of a building in conjunction with the elevator system. The sensor 32 is, for example, a laser range finder, an ultrasonic distance sensor, a dual camera, a LIDAR (Laser Imaging Detection and Ranging), etc. The self-propelled device 13 moves while avoiding obstacles using the sensor 32, detects an empty space in the car 11, and gets on.

[0026] The communication device 33 wirelessly communicates with the self-propelled control device 14. The operation unit 34 is a section for performing input operations of various data, such as inputting a destination. The display unit 35 displays various data. The memory unit 36 ​​stores in advance programs as well as map information including the travel route of the self-propelled device 13. The drive unit 37 includes a motor for driving wheels installed at the bottom of the self-propelled device 13.

[0027] When the destination of the self-propelled device 13 is input by operating the operation unit 34, the self-propelled control device 14 determines the destination floor corresponding to the destination, and transmits destination call information including the destination floor and the current location (start floor) of the self-propelled device 13 to the elevator control device 20 together with the identification information of the self-propelled device 13. The self-propelled control device 14 also notifies the self-propelled device 13 of the destination floor corresponding to the destination, and instructs the self-propelled device 13 to disembark when the car 11 arrives at the destination floor.

[0028] FIG. 3 is a diagram showing an example of the call table 21a for the self-propelled devices. The information of the destination call registered through the self-propelled control device 14 is stored in the call table 21a for the self-propelled device together with the identification information (self-propelled device ID) of the self-propelled device 13 of the destination call. In the example of FIG. 3, the self-propelled device ID: ID01, the registration floor: 3F, and the destination floor: 1F are stored in the call table 21a for the self-propelled device. This means that the departure floor of the self-propelled device 13 with ID01 as the self-propelled device ID is 3F and the destination floor is 1F. The same is true for the self-propelled devices 13 with ID02 to 05, and the information of the departure floor and the destination floor is associated with the self-propelled device ID and stored in the call table 21a for the self-propelled device.

[0029] Next, the operation of this system will be described. 4 is a flowchart showing the operation of the present system. The process shown in this flowchart is executed mainly by the elevator control device 20, which is a computer.

[0030] Now, assume that a fire breaks out at any floor when the self-propelled device 13 is in the car 11, and a signal indicating that a fire has broken out at that floor is transmitted to the elevator control device 20. The crowded situation detection unit 23 detects the crowded situation at the landing 15 of the first evacuation floor. The evacuation floor determination unit 24 determines the floor to which the self-propelled device 13 is to evacuate to be the first evacuation floor or the second evacuation floor, depending on the crowded situation (whether it is crowded or not) at the landing 15 of the first evacuation floor detected by the crowded situation detection unit 23 (step S11).

[0031] An example of determining whether or not the landing 15 on the first evacuation floor is crowded will be described with reference to Fig. 5. In the figure, P indicates a user. When a fire breaks out on any floor, the congestion state detection unit 23 analyzes and processes images obtained from the hall camera 18 installed at the hall 15 on the first evacuation floor, and determines the number of users P and the number of self-propelled devices 13 at the hall 15. In the example of Fig. 5, six users and five self-propelled devices 13 are detected.

[0032] The crowded state detection unit 23 determines that the hall 15 is crowded when the sum of the number of users P and the number of self-propelled devices 13 is equal to or greater than a predetermined value (e.g., 8). In the example of FIG. 5, the sum of the number of users P and the self-propelled devices 13 is 11, which is equal to or greater than the predetermined value, and therefore the hall 15 on the first evacuation floor is determined to be crowded. It may also be possible to determine whether the hall 15 on the first evacuation floor is crowded or not based on the proportion of the users P and the self-propelled devices 13 in the shooting range of the hall camera 18. In this case, if the proportion of the users P and the self-propelled devices 13 is equal to or greater than half of the entire shooting range, for example, the hall 15 on the first evacuation floor is determined to be crowded.

[0033] Returning to Fig. 4, when the landing 15 of the first evacuation floor is not crowded (Yes in step S11), the evacuation floor determination unit 24 judges whether or not the destination floor of the self-propelled device 13 riding in the car 11 is the same as the first evacuation floor that is set in advance as the evacuation floor of the user (step S12). In detail, the evacuation floor determination unit 24 checks the destination floor of the self-propelled device 13 from the information of the destination call by the self-propelled device 13 stored in the call table 21a for the self-propelled device in the call storage unit 21, and judges whether or not the destination floor is the same as the first evacuation floor.

[0034] If the destination floor of the self-propelled device 13 is the same as the first evacuation floor (Yes in step S12), the operation control unit 22 moves the car 11 to the first evacuation floor and notifies the self-propelled control device 14 to have the self-propelled device 13 disembark at the first evacuation floor (step S13). The self-propelled control device 14 controls the operation of the self-propelled device 13 according to this notification. As a result, the self-propelled device 13 disembarks at the first evacuation floor and moves, for example, toward a destination input in advance, or moves to a new location specified by the self-propelled control device 14. At this time, if a user is on the car 11, the user will disembark at the first evacuation floor together with the self-propelled device 13, but since the platform 15 of the first evacuation floor is not crowded, the self-propelled device 13 will not hinder the evacuation of the user.

[0035] On the other hand, if the landing 15 of the first evacuation floor is crowded (No in step S11), the self-propelled device 13 will hinder the evacuation of users, so it is necessary to have the self-propelled device 13 disembark at a second evacuation floor different from the first evacuation floor. At that time, first, the car inside situation detection unit 26 determines whether or not the self-propelled device 13 and the user are riding together in the car 11 (step S14). Specifically, the car inside situation detection unit 26 analyzes and processes the image of the inside of the car 11 obtained from the car inside camera 12, and when one or more users and one or more self-propelled devices 13 are detected, it determines that the self-propelled device 13 and the user are riding together in the car 11.

[0036] The same applies when the destination floor of the self-propelled device 13 is not the same as the first evacuation floor (No in step S12), and the self-propelled device 13 must be disembarked at a second evacuation floor different from the first evacuation floor. At that time, in step S14, it is determined whether the self-propelled device 13 and the user are in the car 11 together.

[0037] When the self-propelled device 13 and the user are in the car 11 (Yes in step S14), the car internal situation detection unit 26 determines whether the self-propelled device 13 is in front of the car door of the car 11 (step S15).

[0038] An example of a case where it is determined that the self-propelled device 13 is in front of the car door in the car 11 will be described with reference to Fig. 6. In the figure, P indicates a user. The car interior situation detection unit 26 detects the position of the self-propelled device 13 and the position of the user P on the image of the inside of the car 11 obtained from the car interior camera 12. If the position of the self-propelled device 13 is within a predetermined range set in front of the car door, the car interior situation detection unit 26 determines that the self-propelled device 13 is riding in front of the car door. The position of the user P is detected in order to move the self-propelled device 13 to a position that does not obstruct the user P from getting off when the user P gets off.

[0039] 4, when the self-propelled device 13 is in front of the car door of the car 11 (Yes in step S15), the operation control unit 22 notifies the self-propelled control device 14 to move the self-propelled device 13 to a position that does not prevent users from getting off when the car 11 is moved to the first evacuation floor (step S16). The self-propelled control device 14 controls the operation of the self-propelled device 13 according to this notification.

[0040] Specifically, as in the example of Figure 6, if the self-propelled device 13 is mounted in front of the car door, when the car 11 arrives at the first evacuation floor, the self-propelled device 13 is temporarily dismounted from the car 11, and then after user P dismounts, the self-propelled device 13 is remounted in the car 11.

[0041] Also, if there is an empty space in the car 11 to which the self-propelled device 13 can be moved from in front of the door, the self-propelled device 13 may be moved to that empty space. The presence or absence of an empty space can be determined by image analysis of the inside of the car 11. If the self-propelled device 13 is moved to the empty space, the user P can get off the car and evacuate smoothly at the first evacuation floor without being hindered by the self-propelled device 13.

[0042] When the self-propelled device 13 is not mounted in front of the car door of the car 11 (No in step S15), there is no need to perform a process of moving the self-propelled device 13. In other words, the operation control unit 22 moves the car 11 to the first evacuation floor, and causes the users to disembark and evacuate there (step S17).

[0043] Here, when the user is made to disembark at the first evacuation floor by the processing of step S16 or step S17, the operation control unit 22 judges whether or not it is necessary to keep the car 11 waiting in an empty car state (unmanned) (step S18). When the car 11 is set as an emergency elevator, it is necessary to keep the car 11 waiting in an empty car state so that the fire brigade can board the car 11 from the first evacuation floor and smoothly carry out firefighting activities.

[0044] If it is necessary to keep the car 11 in an empty car state (Yes in step S18), the operation control unit 22 moves the car 11 to the second evacuation floor determined by the evacuation floor determination unit 24, and notifies the self-propelled control device 14 to disembark the self-propelled device 13 there (step S19). The self-propelled control device 14 controls the operation of the self-propelled device 13 in accordance with this notification. After that, the operation control unit 22 pulls the car 11 back to the first evacuation floor and keeps it waiting in an empty car state.

[0045] On the other hand, if the car 11 is not set as an emergency elevator (No in step S18), the operation control unit 22 notifies the self-propelled control device 14 not to disembark the self-propelled device 13 and to have it wait inside the car 11 when the car 11 arrives at the first evacuation floor (step S20). The self-propelled control device 14 controls the operation of the self-propelled device 13 in accordance with this notification. Note that the car 11 may be moved to the second evacuation floor, and then the self-propelled device 13 may wait inside the car 11 there.

[0046] Here, a method for determining the second evacuation floor will be described. The second evacuation floor is determined to be one of the following: "the destination floor (destination floor) of the self-propelled device 13," "a floor excluding the floor where the abnormality occurred or the area affected by the abnormality," "a floor taking into consideration the crowdedness of the landing at each floor (i.e., a floor where the self-propelled device 13 can be dismounted without any problem in terms of congestion)," and "the floor nearest to the first evacuation floor." These floors may be weighted, and the second evacuation floor may be determined in order of priority based on the weighting. In this case, the "destination floor (destination floor) of the self-propelled device 13" may be determined as the second evacuation floor with the highest priority. This is because after dismounting at the destination floor of the self-propelled device 13, it does not stay there but immediately moves to the destination input in advance.

[0047] Figure 7 shows a specific example when the first evacuation floor is not crowded. P in the figure indicates a user. The evacuation floor for user P is the first evacuation floor, which is set to 1F in this example. Now, assume that the self-propelled device 13 is loaded onto the car 11 and is heading to the first floor when a fire breaks out on the fifth floor.

[0048] When the first evacuation floor, 1F, is not crowded, disembarking the self-propelled device 13 at the first evacuation floor does not impede the evacuation of the users, so the evacuation floor of the self-propelled device 13 is determined to be the first evacuation floor (1F) that is preset as the evacuation floor for the users. When the car 11 arrives at the first evacuation floor, the self-propelled device 13 disembarks together with the users. At this time, it is preferable to disembark the self-propelled device 13 after disembarking the users. This is because if the self-propelled device 13 disembarks first, the evacuation of the users will be delayed.

[0049] Figure 8 shows a specific example when the first evacuation floor is crowded. P in the figure indicates a user. The evacuation floor for user P is the first evacuation floor, which is set to 1F in this example. Now, assume that the self-propelled device 13 is loaded onto the car 11 and is heading to the first floor when a fire breaks out on the fifth floor.

[0050] When the first evacuation floor, 1F, is crowded, the evacuation floor of the self-propelled device 13 is determined to be the second evacuation floor. As described above, the second evacuation floor is determined based on the "destination floor (destination floor) of the self-propelled device 13," the "floor where the abnormality occurred or the affected area of ​​the abnormality is excluded," and the like. In the example of FIG. 8, the second evacuation floor is determined to be the 3F. Therefore, after the user gets off at the first evacuation floor, 1F, the car 11 moves to the 3F determined as the second evacuation floor. As a result, the self-propelled device 13 gets off at the 3F. At this time, if the car 11 is set as an emergency elevator, the car 11 is pulled back to the first evacuation floor and waits there in an empty car state.

[0051] In this way, when the first evacuation floor is crowded, the self-propelled device 13 can be evacuated to a floor other than the first evacuation floor, so that the self-propelled device 13 can be evacuated without interfering with the evacuation of users on the first evacuation floor.

[0052] A specific example of a case where a self-propelled device is placed on standby in a car is shown in Fig. 9. As in Fig. 8, the evacuation floor for user P is the first evacuation floor, which is set to 1F here. For example, if the destination floor of the self-propelled device 13 is the same as the first evacuation floor and the user gets off on the first floor of the first evacuation floor, and the car 11 is not set as an emergency elevator, it is not necessary to make the car 11 an empty car, so the self-propelled device 13 may be kept waiting inside the car 11. By keeping the self-propelled device 13 waiting inside the car 11, it is possible to prevent the self-propelled device 13 from occupying the space of the landing 15 of the first evacuation floor and hindering the evacuation of users.

[0053] In this embodiment, when a fire or the like occurs, the evacuation floor for the self-propelled device is determined to be the first evacuation floor or the second evacuation floor depending on the congestion level on the first evacuation floor, thereby preventing the self-propelled device from hindering the evacuation of users on the first evacuation floor.

[0054] (Example of change) In the above embodiment, the description is given assuming one car, but when there are multiple cars, the second evacuation floor for evacuating the self-propelled devices may be determined for each car. In this case, if the second evacuation floor is determined to be a different floor for each car so that the cars are dispersed, the self-propelled devices riding on these cars will also be dispersed to the landings of each floor, so that it is possible to prevent multiple self-propelled devices from concentrating on the same floor. The processing related to this modified example is executed by a management control device (not shown) that controls the operation of multiple cars. This management control device has each function of the elevator control device 20 shown in FIG. 1, and the second evacuation floor is determined for each car by a function corresponding to the evacuation floor determination unit 24.

[0055] Figure 10 shows a specific example in which there are multiple elevator cars and the second evacuation floor is determined for each elevator car. In the figure, P indicates a user. The evacuation floor for user P is the first evacuation floor, which is set to 1F in this example. Now, assume that a fire breaks out on the 6th floor while the self-propelled device 13a is in the car 11a of the A-car on the way to the 1st floor. The car 11b of the B-car with the self-propelled device 13b in it and the car 11c of the C-car with the self-propelled device 13c in it are also heading to the 1st floor like the car 11a. The cars 11a to 11c arrive at the 1st floor in the order of the A-car, the B-car, and the C-car, respectively.

[0056] First, consider the car 11a of vehicle A arriving at 1F. When 1F, which is the first evacuation floor, is crowded, the evacuation floor of the self-propelled device 13a is determined to be a second evacuation floor different from the first evacuation floor. In the example of FIG. 10, the second evacuation floor of the self-propelled device 13a is determined to be 4F. Therefore, after the user gets off at 1F, which is the first evacuation floor, the car 11a of vehicle A moves to 4F, which is determined to be the second evacuation floor. As a result, the self-propelled device 13a gets off at 4F.

[0057] Next, consider car 11b of vehicle B. Since the second evacuation floor of the self-propelled device 13a riding in car 11a of vehicle A is 4F, the second evacuation floor of the self-propelled device 13b is determined to be a floor other than 4F (3F in the example of FIG. 10). Therefore, after the user gets off at 1F, which is the first evacuation floor, car 11b of vehicle B moves to 3F, which is determined to be the second evacuation floor. When car 11b of vehicle B arrives at 3F, the self-propelled device 13b gets off at 3F.

[0058] Finally, consider the car 11c of vehicle C. The second evacuation floor of the self-propelled device 13c riding in the car 11c of vehicle C is determined to be a floor (2F in the example of FIG. 10) different from the evacuation floors of the self-propelled devices 13a and 13b. Therefore, after the user gets off at 1F, which is the first evacuation floor, the car 11c of vehicle C moves to 2F, which is determined to be the second evacuation floor. When the car 11c of vehicle C arrives at 2F, the self-propelled device 13c gets off at 2F.

[0059] In this way, by determining the second evacuation floor for the self-propelled devices for each car, the self-propelled devices in each car can be dispersed and prevented from concentrating on the same floor. This makes it possible to prevent the self-propelled devices from concentrating on the same floor in the event of an emergency, which would hinder the evacuation of users.

[0060] According to at least one of the embodiments described above, it is possible to provide an elevator system capable of controlling the self-propelled device so as not to hinder the evacuation of users in the event of a disaster.

[0061] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0062] 11...car, 12...camera inside the car, 13...self-propelled device, 14...self-propelled control device, 15...landing, 16...landing call button, 17...landing door, 18...landing camera, 19...abnormality detection unit, 20...elevator control device, 21...call memory unit, 21a...call table for self-propelled device, 22...operation control unit, 23...crowding situation detection unit, 24...evacuation floor determination unit, 25...communication unit, 26...inside the car situation detection unit, P...user.

Claims

1. In an elevator system including an elevator control device communicably connected to a self-propelled control device that controls the operation of an autonomous self-propelled device, The elevator control device includes: a congestion detection means for detecting a congestion state of a preset first evacuation floor when an abnormality occurs at any floor while the self-propelled device is in the elevator car; an evacuation floor determination means for determining, based on the congestion state of the first evacuation floor detected by the congestion state detection means, a floor to which the self-propelled device is to be evacuated to the first evacuation floor or a second evacuation floor different from the first evacuation floor; an operation control means for moving the elevator car to the first evacuation floor or the second evacuation floor determined by the evacuation floor determination means, and notifying the self-propelled control device to disembark the self-propelled device; An elevator system comprising:

2. The evacuation floor determination means includes:

2. The elevator system according to claim 1, wherein when the first evacuation floor is crowded, the floor to which the self-propelled device is to be evacuated is determined to be the second evacuation floor.

3. The evacuation floor determination means includes: The elevator system according to claim 1, characterized in that, when the first evacuation floor is not crowded, if the destination floor of the self-propelled device is the same floor as the first evacuation floor, the floor to which the self-propelled device is evacuated is determined to be the first evacuation floor.

4. The evacuation floor determination means includes: The elevator system according to claim 1, characterized in that, when the first evacuation floor is not crowded, if the destination floor of the self-propelled device is a floor other than the first evacuation floor, the floor to which the self-propelled device is evacuated is determined to be the second evacuation floor.

5. The elevator system according to claim 1, characterized in that the second evacuation floor is determined based on any one of the destination floor of the self-propelled device, the floor where the abnormality occurred and floors excluding the range affected by the abnormality, the congestion situation of each floor, and the floor closest to the first evacuation floor.

6. A car interior situation detection means is provided for detecting a situation inside the car, The operation control means includes: The elevator system according to claim 2, characterized in that, when a passenger disembarks at the first evacuation floor, the self-propelled control device is notified to move the self-propelled device to a position that does not hinder the passenger from disembarking, based on the situation inside the elevator car detected by the car interior situation detection means.

7. The operation control means includes: The elevator system according to claim 2, characterized in that, when there is no need for the elevator car to be in an empty car state at the second evacuation floor, the self-propelled control device is notified not to allow the self-propelled device to disembark at the second evacuation floor.

8. The evacuation floor determination means includes: The elevator system according to claim 1, characterized in that, when there are multiple elevator cars, the second evacuation floor is determined for each elevator car so that the self-propelled devices disembarking from each elevator car do not concentrate on the same floor.

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