Control device of elevator

Abstract

To improve transportation efficiency even under an environment where a robot use an elevator together with a user.SOLUTION: A control device of an elevator, which when receiving a call registration request for a user and when receiving a call registration request for a robot, makes an allocation of landing call to an elevator car in response to the requests, in either case, determines whether robot information is included in information received together with the requests or not, every time the requests are received, and when determining that the robot information is included, determines that the received request is the call registration request for the robot. The control device integrates times of expected stops which occur on the elevator car by the allocation in response to the request, every time the allocation is made, where when making an allocation for the robot, the device integrates the number of times of one-time stop corresponding to the allocation. When the times of expected stops reach an upper limit, the control device restricts an allocation for the elevator car.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an elevator control technology used by both users and robots.

Background Art

[0002] As an elevator, there is one that assigns a landing call to a car for a user every time the destination floor is registered by the user in a destination floor registration device. As such an elevator control technology, the number of scheduled stops (the number of scheduled stops per round when circulating in the operation section) generated in the car is counted by the assignment of the landing call, and a technology for restricting the assignment to a car whose number of scheduled stops has reached the upper limit value is known (see, for example, Patent Document 1). According to this technology, in the case where only users use the elevator, it is possible to control so that the circulating time of the car (the time required to make one round in the operation section) does not become long, and as a result, it is possible to improve the transportation efficiency.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, robots have been increasingly used for various tasks (such as cleaning, monitoring, and transportation) that were conventionally performed by humans in buildings. Along with this, the use of elevators for the inter-floor movement of robots in buildings has been increasing, and the number of cases where both users and robots use the elevator has been increasing.

[0005] On the one hand, robots take more time to board and alight compared to users. Therefore, in an environment where a robot uses an elevator together with a user, even if an upper limit is set for the planned number of stops of the car as in the control technology described above, the cycle time of the car in which the robot rides will be longer, which will prevent the improvement of transportation efficiency.

[0006] Therefore, an object of the present invention is to enable the improvement of transportation efficiency even in an environment where a robot uses an elevator together with a user.

Means for Solving the Problem

[0007] The first control device according to the present invention is a control device that assigns landing calls to a car in an elevator, and performs the following control process (Aspect 1). The control device counts the planned number of stops that occur in the car for each assignment, and among them, when assigning to the robot, it counts the weighted value for one stop corresponding to the assignment. And when the planned number of stops reaches the upper limit value, the control device restricts the assignment to the car.

[0008] According to the above Aspect 1, by setting an upper limit value for the planned number of stops and restricting the assignment to the car, an increase in the number of stops of the car (the number of stops per round when circulating in the operation section) can be restricted. And when assigning to the robot, by counting the weighted value for one stop corresponding to the assignment as the planned number of stops, when the robot gets on the car, the actual number of stops of the car can be reduced compared to the case where only the user gets on the car. Therefore, even when a robot that takes time to board and alight gets on the car, it becomes possible to control the cycle time of the car (the time required to make one round in the operation section) within an appropriate range.

[0009] When attempting to execute an assignment for a robot, if the number of scheduled stops obtained by the count at that time reaches the upper limit and it is not possible to find an elevator car that could be the target of the assignment, the upper limit may be relaxed and the execution of the assignment may be attempted again (Aspect 2).

[0010] When making an assignment for a robot, if we try to count as the number of scheduled stops the weighted value for one stop corresponding to that assignment, the number of scheduled stops is likely to exceed the upper limit. Therefore, a situation may occur where it is not possible to find an elevator car that could be the target of the assignment as it is. Even in such a case, according to Aspect 2 above, by relaxing the upper limit, it becomes possible to surely make an assignment for the robot.

[0011] When making an assignment for a robot, in the case where the destination floor or the departure floor of the robot matches the destination floor or the departure floor of a user for whom an assignment to an elevator car has already been made, as the number of scheduled stops, the counted one time corresponding to the assignment for the user may be replaced with the weighted value for one stop corresponding to the assignment for the robot and recounted (Aspect 3).

[0012] While the robot takes time to board and alight, the user requires little time for boarding and alighting. Therefore, at the stop floor where the robot boards or alights and the user boards or alights, the user can complete boarding and alighting within the range of the robot's boarding and alighting time. Thus, at such a stop floor, it can be considered that for one stop corresponding to the assignment for the robot, only the weighted one is counted as the planned number of stops, and it also includes one time corresponding to the assignment for the user. Therefore, according to the above aspect 3, by replacing and recalculating the counted one time corresponding to the assignment for the user with the weighted one for one stop corresponding to the assignment for the robot, duplication in the count of the planned number of stops can be prevented, and as a result, it becomes possible to prevent the number of stops from being counted more than necessary for one stop.

[0013] The second control device according to the present invention is a control device that assigns landing calls to a car in an elevator, and performs the following control process (aspect 4). The control device accumulates the planned stop time that occurs in the car for each assignment, and among them, when assigning to the robot, it accumulates the stop time for one time corresponding to the assignment. And when the planned stop time reaches the upper limit value, the control device restricts the assignment to the car.

[0014] According to the above-described aspect 4, by providing an upper limit value for the scheduled stop time and restricting the allocation to the car, it is possible to limit an increase in the stop time of the car (the stop time per round when circulating in the operation section). When performing allocation for the robot, as the scheduled stop time, by accumulating the stop time for one time corresponding to the allocation (the stop time required when the robot gets on or off the car), even when the robot gets on the car, the actual stop time of the car can be restricted to be about the same as when only the user gets on the car. Therefore, even when a robot that takes time to get on and off gets on the car, it becomes possible to control the circulation time of the car (the time required to make one round in the operation section) within an appropriate range.

[0015] When the control device according to the above-described aspect 4 attempts to execute the allocation for the robot, if the scheduled stop time obtained by the integration at that time reaches the upper limit value and it is impossible to find a car that can be the target of the allocation, the upper limit value may be relaxed and the execution of the allocation may be attempted again (aspect 5).

[0016] When performing allocation for the robot, when attempting to accumulate the stop time for one time corresponding to the allocation (the stop time required when the robot gets on or off the car), the scheduled stop time is likely to exceed the upper limit value. Therefore, a situation may occur where it is impossible to find a car that can be the target of the allocation as it is. Even in such a case, according to the above-described aspect 5, by relaxing the upper limit value, it becomes possible to surely perform the allocation for the robot.

[0017] When the control device according to the above-described aspect 4 or 5 executes the allocation for the robot, if the destination floor or the departure floor of the robot matches the destination floor or the departure floor of the user for whom the allocation to the car has already been performed, as the scheduled stop time, the accumulated stop time for one time corresponding to the allocation for the user may be replaced with the stop time for one time corresponding to the allocation for the robot and accumulated again (aspect 6).

[0018] While the robot takes time to board and alight, the user requires little time for boarding and alighting. Therefore, at the stop floor where the robot boards or alights and the user boards or alights, the user can complete boarding and alighting within the range of the robot's boarding and alighting time. Thus, at such a stop floor, it can be considered that the one-time stop time corresponding to the assignment for the user is also included in the one-time stop time corresponding to the assignment for the robot, which is accumulated as the scheduled stop time. Therefore, according to the above aspect 6, by replacing and re-accumulating the accumulated one-time stop time corresponding to the assignment for the user with the one-time stop time corresponding to the assignment for the robot, it is possible to prevent double counting of the accumulated scheduled stop time. As a result, it is possible to prevent the stop time from being accumulated more than necessary for one stop.

Advantages of the Invention

[0019] According to the present invention, it is possible to improve the transportation efficiency even in an environment where a robot uses an elevator together with a user.

Brief Description of the Drawings

[0020]

Figure 1

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Modes for Carrying Out the Invention

[0021] [1] Embodiment [1-1] Overall Configuration of Elevator FIG. 1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. In this embodiment, the elevator is used not only by users but also by robots H that perform various operations (cleaning, monitoring, transportation, etc.) in the building where the elevator is installed. And the elevator of this embodiment includes a car G, a destination floor registration device 1, an elevator control device 2, a group management control device 3, and a robot management device 4. Hereinafter, the configuration of each part will be specifically described.

[0022] <Destination Floor Registration Device> The destination floor registration device 1 is a device for a user of the elevator to register the destination floor Fd, and is installed on each stop floor of the elevator.

[0023] When a user registers the destination floor Fd in the destination floor registration device 1, the destination floor Fd is transmitted to the group management control device 3. Thereby, a call registration for the user (assignment of a landing call to the car G for the user) is requested to the group management control device 3. At this time, the destination floor registration device 1 also transmits its own device information Pd to the group management control device 3 together with the destination floor Fd so that the group management control device 3 recognizes that the transmission source of the destination floor Fd is the destination floor registration device 1 rather than the robot H and which destination floor registration device 1 it is.

[0024] <Elevator control device> The elevator control device 2 is provided for each car G and controls the operation of the car G associated with itself.

[0025] <Group management control device> The group management control device 3 is a device that centrally manages the car G through the elevator control device 2, and includes a storage unit 31 and a control unit 32 (see FIG. 1). In this embodiment, the group management control device 3 executes control processing to enable it to improve the transportation efficiency even in an environment where the robot H uses the elevator together with the user. The details of the control processing performed by the group management control device 3 will be described later.

[0026] The storage unit 31 is a part composed of a storage device such as a ROM or a RAM. In the storage unit 31, information necessary for the control processing performed by the group management control device 3 is stored. In this embodiment, device management data Dp and car management data Dq are stored in the storage unit 31 as such information. The device management data Dp is a database for managing a plurality of pieces of information related to the destination floor registration device 1 in association with each other for each destination floor registration device 1. The car management data Dq is a database for managing a plurality of pieces of information related to the car G in association with each other for each car G.

[0027] FIG. 2(A) is a conceptual diagram illustrating the device management data Dp used in this embodiment. In the device management data Dp illustrated in this figure, for each destination floor registration device 1, device information Pd for identifying the destination floor registration device 1 from other devices and the installation floor Fs of the destination floor registration device 1 are recorded in a state associated with each other.

[0028] As a result, when the group management control device 3 receives the device information Pd together with the destination floor Fd from each destination floor registration device 1, it becomes possible to specify the installation floor Fs of the destination floor registration device 1 (the destination floor registration device 1 where the destination floor Fd is registered) from the device information Pd. And in the present embodiment, the installation floor Fs of the destination floor registration device 1 is used as the departure floor Fc (boarding floor) of the user who registered the destination floor Fd in the destination floor registration device 1.

[0029] FIG. 2(B) is a conceptual diagram illustrating the car management data Dq used in the present embodiment. In the car management data Dq illustrated in this figure, for each car G, the car information Pg for identifying the car G from other cars and the number of scheduled stops Ns generated by the assignment of landing calls to the car G are recorded in a state where they are associated with each other.

[0030] Here, the number of scheduled stops Ns is the number of times the car G is scheduled to stop (including those that have already stopped) until it makes one round of the operation section from a specific floor (not particularly limited, for example, the first floor, etc.) and returns to the specific floor. In the present embodiment, the number of scheduled stops Ns is specifically the number of times scheduled to stop at the destination floor Fd. And the value of the number of scheduled stops Ns recorded for each car G in the car management data Dq is updated each time the assignment to the car G is executed (see steps S130 to S131 in FIG. 3).

[0031] Also, in the present embodiment, in order to improve the transport efficiency, an increase in the number of scheduled stops Ns per round when each car G makes a round of the operation section is restricted. And in order to enable that, an upper limit value Nt is provided for the number of scheduled stops Ns (see step S14 in FIG. 4, step S24 in FIG. 5). And the upper limit value Nt is also stored in the storage unit 31.

[0032] The control unit 32 is a part that realizes the control processing performed by the group management control device 3. In this embodiment, the control unit 32 is composed of processing devices such as a CPU and an MPU. Then, by the control unit 32 executing a program, the above control processing is realized by software.

[0033] Here, the above program is installed in the group management control device 3, and before installation, it may be stored in a portable storage medium (for example, a flash memory, etc.) in a readable state, or may be stored in a downloadable state in another server or the like. Note that the control processing performed by the group management control device 3 is not limited to being realized by software by executing a program, and may also be realized by hardware by a processing circuit (control unit 32) constructed in the group management control device 3.

[0034] <Robot management device> The robot management device 4 is a device that centrally manages the robot H used in the building where the elevator of this embodiment is installed, and includes a storage unit 41 and a control unit 42 (see FIG. 1).

[0035] The storage unit 41 is a part composed of storage devices such as a ROM and a RAM, and information necessary for the control processing performed by the robot management device 4 is stored in the storage unit 41. In this embodiment, robot management data Dr is stored in the storage unit 41 as such information. The robot management data Dr is a database for associating and managing a plurality of pieces of information related to the robot H for each robot H.

[0036] FIG. 2(C) is a conceptual diagram illustrating the robot management data Dr used in this embodiment. In the robot management data Dr illustrated in this figure, for each robot H, robot information Ph for identifying the robot H from other robot Hs, a coefficient Wc, and the current floor Fp of the robot H are recorded in a state of being associated with each other.

[0037] Here, the coefficient Wc associated with each robot H is a coefficient for weighting when counting one stop scheduled to let the robot H get off during the count of the scheduled number of stops Ns of the car G, taking into account that the robot H takes more time to board and alight compared to the user for that one stop (Wc ≥ 1). As an example, the coefficient Wc associated with each robot H is the ratio of the average time required for the robot H to alight to the average time required for the user to alight. Here, the average time required to alight is, for example, the average time required from the start of alighting from the car G at the stop floor (here the destination floor Fd) until the completion of alighting. Also, the current floor Fp associated with each robot H is the floor where the robot H is located and is updated each time the robot H moves between floors.

[0038] The control unit 42 is a part that realizes the control process performed by the robot management device 4. In the present embodiment, as one of the control processes performed by the robot management device 4, the following processes are realized by the control unit 42.

[0039] When each robot H needs to move between floors, it transmits the destination floor Fd to be moved to the robot management device 4. At this time, in order for the robot management device 4 to recognize which robot H is the transmission source of the destination floor Fd, the robot H also transmits its own robot information Ph to the robot management device 4 together with the destination floor Fd.

[0040] Also, when each robot H needs to move between floors, it will board the car G from the current floor Fp and move to the destination floor Fd. In other words, the current floor Fp of each robot H becomes the departure floor Fc (boarding floor) when the robot H moves between floors.

[0041] Therefore, when the robot management device 4 receives the destination floor Fd and the robot information Ph from each robot H, the robot management device 4 extracts the current floor Fp associated with the received robot information Ph using the robot management data Dr in order to identify the departure floor Fc (boarding floor) of that robot H. At this time, the robot management device 4 also extracts the coefficient Wc of that robot H.

[0042] Then, the robot management device 4 transmits the extracted current floor Fp and coefficient Wc, together with the destination floor Fd and the robot information Ph received from the robot H, to the group management control device 3, with the current floor Fp being regarded as the departure floor Fc (=Fp) of the robot H. As a result, a call registration for the robot H (assignment of a landing call to the car G for the robot H) is requested to the group management control device 3.

[0043] The control unit 42 that realizes such control processing is composed of a processing device such as a CPU or an MPU in this embodiment. Then, by executing the program by the control unit 42, the above-described control processing is realized by software.

[0044] Here, the above program is installed in the robot management device 4, and before installation, it may be stored in a portable storage medium (for example, a flash memory, etc.) in a readable state, or may be stored in a downloadable state in another server or the like. Note that the control processing performed by the robot management device 4 is not limited to the case where it is realized by software by executing a program, and may be realized by hardware by a processing circuit (control unit 42) constructed in the robot management device 4.

[0045] [1-2] Control Processing Performed by Group Management Control Device FIG. 3 is a flowchart showing the control device performed by the group management control device 3 in this embodiment. This control processing starts when a call registration request is made to the group management control device 3 from the destination floor registration device 1 or the robot management device 4.

[0046] Hereinafter, the information received by the group management control device 3 each time a call registration request is made is collectively referred to as "received information Pr". Specifically, when this received information Pr is a request from the destination floor registration device 1 (a call registration request for a user), it includes the destination floor Fd and device information Pd. When the call registration request is a request from the robot management device 4 (a call registration request for the robot H), it includes the departure floor Fc, the destination floor Fd, the coefficient Wc, and the robot information Ph. Also, in this embodiment, it is assumed that multiple robots H do not board or alight on the same floor. Note that the control process in the case where multiple robots H may board or alight on the same floor will be described in the first modification example below.

[0047] When the control process starts, the group management control device 3 determines which of the device information Pd and the robot information Ph is included in the received information Pr in order to determine whether the received call registration request is from the destination floor registration device 1 or the robot management device 4 (step S100).

[0048] When the group management control device 3 determines in step S100 that the "device information Pd" is included, based on this determination, it can be determined that the received call registration request is from the destination floor registration device 1. In this case, the group management control device 3 executes the following processes to perform call registration for the user (allocate a boarding call for the user to the car G).

[0049] First, the group management control device 3 sets three variables X to Z used in a series of processes for performing call registration for the user (step S110). Specifically, the group management control device 3 uses the device management data Dp to extract the installation floor Fs associated with the device information Pd in the received information Pr, and substitutes it as the departure floor Fc of the user into the variable X (X = Fc). The group management control device 3 substitutes the destination floor Fd (the destination floor Fd of the user) in the received information Pr into the variable Y (Y = Fd). Also, the group management control device 3 substitutes the upper limit value Nt stored in the storage unit 31 into the variable Z (Z = Nt).

[0050] After step S110, the group management control device 3 executes a first selection process for selecting candidates (candidates for assignment of landing calls for users) that can be the assignment targets for each user for all cars G (step S111).

[0051] FIG. 4 is a flowchart showing the first selection process executed in this embodiment. In the first selection process, the group management control device 3 uses the car G being focused on in the process as the focused car Gk, and for the focused car Gk, obtains the number of scheduled stops Ns that have been counted up to that point (step S11). Specifically, the group management control device 3 obtains the number of scheduled stops Ns associated with the car information Pg of the focused car Gk using the car management data Dq (see FIG. 2(B)). Then, the group management control device 3 substitutes the obtained number of scheduled stops Ns into the variable R(Pg) (Pg is the car information Pg of the focused car Gk).

[0052] After step S11, the group management control device 3 determines whether there is a landing call already assigned to the focused car Gk (including those that have arrived at the departure floor Fc or the destination floor Fd for one round of the operation section) whose destination floor Fd is the same as the value of the variable Y (= the destination floor Fd in the received information Pr) (step S12).

[0053] When the group management control device 3 determines "Yes" in step S12, based on this determination, it can be determined that the number of stops (times) to the value of the variable Y (= the destination floor Fd in the received information Pr) has already been counted in the value of the variable R(Pg) (= the number of scheduled stops Ns obtained in step S11). In this case, the group management control device 3 leaves the value of the variable R(Pg) as it is without performing a new count (step S13A), and adds the focused car Gk to the candidates for assignment of landing calls for users (step S15). Then, the group management control device 3 ends the first selection process.

[0054] On the other hand, when the group management control device 3 determines "No" in step S12, based on this determination, it can be determined that the number of stops (= the destination floor Fd in the received information Pr) of the value of the variable Y has not yet been counted for the value of the variable R(Pg) (= the scheduled number of stops Ns acquired in step S11). In this case, the group management control device 3 newly counts the number of stops (= 1 time) corresponding to the assignment for the user. Specifically, the group management control device 3 counts one stop corresponding to the assignment for the user by setting the value obtained by adding "1" to the value of the variable R(Pg) as the new variable R(Pg) (step S13B).

[0055] After step S13B, the group management control device 3 determines whether the value of the variable R(Pg) is less than or equal to the value of the variable Z (= the upper limit value Nt) in order to determine whether the target car Gk can be a candidate for assignment (step S14).

[0056] And when the group management control device 3 determines "Yes, less than or equal to the value of the variable Z" in step S14, based on this determination, it can be determined that there is enough room to make an assignment for the user for the scheduled number of stops Ns of the target car Gk. In this case, the group management control device 3 adds the target car Gk to the candidates for assignment of the landing call for the user (step S15), and then ends the first screening process.

[0057] On the other hand, when the group management control device 3 determines "No, not less than or equal to the value of the variable Z" in step S14, in order to limit the increase in the scheduled number of stops Ns of the target car Gk and improve the transportation efficiency, the group management control device 3 ends the first screening process without adding the target car Gk to the candidates for assignment of the landing call for the user so that the target car Gk is not selected for assignment. In this way, when the value of the variable R(Pg) for the target car Gk reaches the upper limit value Nt, the group management control device 3 restricts the assignment to that target car Gk.

[0058] After step S111 (see FIG. 3), the group management control device 3 determines whether it has found an allocation candidate by executing step S111 (step S112). Here, if the group management control device 3 has to determine that "not less than the value of variable Z (No)" in step S14 for any car cage G in step S111, step S111 will end without finding an allocation candidate. In this case, the group management control device 3 will determine "not found (No)" in step S112.

[0059] In the present embodiment, in order to be able to find an allocation candidate even in such a case, the group management control device 3 relaxes the upper limit value Nt (step S113), and then executes step S111 again. Then, the group management control device 3 relaxes the upper limit value Nt until a car cage G that can be determined as "less than or equal to the value of variable Z (Yes)" appears in step S14 (see FIG. 4). Specifically, the group management control device 3 sets a new variable Z to the value obtained by adding "1" to the value of variable Z. After that, the group management control device 3 executes step S111 again using the new variable Z. Then, the group management control device 3 repeatedly executes steps S113 and S111 until it can determine "found (Yes)" in step S112.

[0060] If the group management control device 3 can determine "found (Yes)" in step S112, it uses the values of variables X and Y (departure floor Fc and destination floor Fd) as one landing call, and executes the allocation of the landing call to any one of the car cages G within the allocation candidate found in step S111 (step S130).

[0061] Thereafter, the group management control device 3 updates the scheduled stop count Ns for the car cage G that was the target of allocation in step S130 to the value of variable R(Pg) obtained in step S13A or S13B (see FIG. 4) for that car cage G in the car cage management data Dq (step S131).

[0062] When the group management control device 3 determines in step S100 that "robot information Ph" is included, based on this determination, it can be determined that the received call registration request is a request from the robot management device 4. In this case, the group management control device 3 executes the following processing to perform call registration for robot H (assignment of a boarding call for robot H to the car G).

[0063] First, the group management control device 3 sets four variables Q, X to Z that are used in a series of processes for performing call registration for robot H (step S120). Specifically, the group management control device 3 substitutes the coefficient Wc, the departure floor Fc, and the destination floor Fd in the received information Pr into variables Q, Y, and X respectively (Q = Wc, X = Fc, Y = Fd). Also, the group management control device 3 substitutes the upper limit value Nt stored in the storage unit 31 into variable Z (Z = Nt).

[0064] After step S120, the group management control device 3 executes a second selection process for selecting candidates that can be the assignment targets for robot H (boarding call assignment candidates for robot H) for each of all the cars G (step S121).

[0065] FIG. 5 is a flowchart showing the second selection process executed in this embodiment. In the second selection process, the group management control device 3 uses the car G being focused on in the process as the focused car Gk, and for the focused car Gk, obtains the number of scheduled stops Ns that have been counted up to that point (step S21). Specifically, the group management control device 3 obtains the number of scheduled stops Ns associated with the car information Pg of the focused car Gk using the car management data Dq (see FIG. 2(B)). Then, the group management control device 3 substitutes the obtained number of scheduled stops Ns into variable R(Pg) (Pg is the car information Pg of the focused car Gk).

[0066] After step S21, the group management control device 3 determines whether there is a landing call already assigned to the target car Gk (for one round of the operation section, including those that have already arrived at the departure floor Fc or the destination floor Fd) in which the destination floor Fd is the same as the value of the variable Y (= the destination floor Fd in the received information Pr) (step S22).

[0067] When the group management control device 3 determines "No" in step S22, based on this determination, it can be determined that the stop time (number of times) to the value of the variable Y (= the destination floor Fd in the received information Pr) has not yet been counted in the value of the variable R(Pg) (= the planned stop number Ns obtained in step S21). In this case, the group management control device 3 newly counts the stop time (weighted for each time) corresponding to the assignment for the robot H. Specifically, the group management control device 3 sets the value obtained by adding the value of the variable Q (= the coefficient Wc) to the value of the variable R(Pg) as the new variable R(Pg), thereby counting the weighted value for one stop corresponding to the assignment for the robot H (step S23A). Thereby, it becomes possible to reflect in the value of the variable R(Pg) that the robot H takes more time for boarding and alighting than the user.

[0068] On the other hand, when the group management control device 3 determines "Yes" in step S22, based on this determination, it can be determined that the stop time (number of times) to the value of the variable Y (= the destination floor Fd in the received information Pr) has already been counted in the value of the variable R(Pg) (= the planned stop number Ns obtained in step S21). Here, in this embodiment, it is assumed that a plurality of robots H do not board or alight on the same floor, so the already counted stop time corresponds to the stop time for one landing call for the user.

[0069] On the other hand, while it takes time for the robot H to board and alight, since the user requires almost no time for boarding and alighting, at the stop floor where the robot H boards or alights and the user boards or alights, the user can complete boarding and alighting within the boarding and alighting time range of the robot H. Therefore, at such a stop floor, it can be considered that only by counting, as the scheduled stop count Ns, the one-time stop weighted corresponding to the assignment for the robot H, it already includes one time corresponding to the assignment for the user.

[0070] Therefore, when the group management control device 3 determines "Yes" in step S22, while subtracting "1" from the value of the variable R(Pg), it adds the value of the variable Q (= coefficient Wc) thereto to make a new variable R(Pg), and as the scheduled stop count Ns, it replaces the counted one time corresponding to the assignment for the user with the one weighted for one stop corresponding to the assignment for the robot H and recalculates the count (step S23B).

[0071] According to step S23B, it is possible to prevent double counting of the scheduled stop count Ns, and as a result, it becomes possible to prevent counting the stop count more than necessary for one stop.

[0072] After step S23A or S23B, the group management control device 3 determines whether the value of the variable R(Pg) is less than or equal to the value of the variable Z (= upper limit value Nt) in order to determine whether the target car Gk can be a candidate for assignment (step S24).

[0073] And when the group management control device 3 determines "Less than or equal to the value of the variable Z (Yes)" in step S24, based on this determination, it can be determined that there is enough margin to assign the robot H to the scheduled stop count Ns of the target car Gk. In this case, the group management control device 3 adds the target car Gk to the candidate for assignment of the landing call for the robot H (step S25), and then ends the second screening process.

[0074] On the other hand, when the group management control device 3 determines "No" in step S24, i.e., the value is not less than the value of variable Z, the group management control device 3 restricts the increase in the planned stop count Ns of the target car Gk to improve the transportation efficiency, and ends the second screening process without adding the target car Gk to the allocation candidates for the landing call for the robot H so that the target car Gk does not become an allocation target. In this way, when the value of the variable R(Pg) for the target car Gk reaches the upper limit value Nt, the group management control device 3 restricts the allocation to that target car Gk.

[0075] After step S121 (see FIG. 3), the group management control device 3 determines whether it has found an allocation candidate by executing step S121 (step S122). Here, if the group management control device 3 inevitably determines "No, not less than the value of variable Z" in step S24 for any of the cars G in step S121, step S121 will end without finding an allocation candidate. In this case, the group management control device 3 will determine "Could not find (No)" in step S122.

[0076] In the present embodiment, in order to be able to find an allocation candidate even in such a case, the group management control device 3 relaxes the upper limit value Nt (step S123), and then executes step S121 again. Then, the group management control device 3 relaxes the upper limit value Nt until a car G for which it can be determined "Yes, the value is less than or equal to the value of variable Z" appears in step S24 (see FIG. 5). Specifically, the group management control device 3 sets the value obtained by adding "1" to the value of variable Z as the new variable Z. After that, the group management control device 3 executes step S121 again using the new variable Z. Then, the group management control device 3 repeatedly executes steps S123 and S121 until it can be determined "Found (Yes)" in step S122.

[0077] Here, when making an assignment for the robot H, if we try to count, as the planned number of stops Ns, the weighted value for one stop corresponding to that assignment, the planned number of stops Ns is likely to exceed the upper limit value Nt. Therefore, a situation may occur where it is impossible to find a car G (assignment candidate) that can be the target of the assignment as it is. Thus, in the present embodiment, as described above, by relaxing the upper limit value Nt and attempting to re-select the assignment candidates, it is possible to surely find the assignment candidates for the boarding call for the robot H, and as a result, it is possible to surely make an assignment for the robot H.

[0078] When the group management control device 3 can determine "found (Yes)" in step S122, it uses the values of variables X and Y (departure floor Fc and destination floor Fd) as one boarding call, and assigns the boarding call to any one of the cars G within the assignment candidates found in step S121 (step S130).

[0079] Thereafter, the group management control device 3 updates the planned number of stops Ns for the car G that was the target of the assignment in step S130 to the value of the variable R(Pg) obtained in step S23A or S23B (see FIG. 5) for that car G in the car management data Dq (step S131).

[0080] According to such control processing, by providing an upper limit value Nt to the planned number of stops Ns and restricting the assignment to the car G, it is possible to limit the increase in the number of stops of the car G (the number of stops per round when circulating in the operation section). And when making an assignment for the robot H, by counting, as the planned number of stops Ns, the weighted value for one stop corresponding to that assignment, when the robot H boards the car G, the actual number of stops of the car G can be reduced compared to the case where only the user boards. Therefore, even when the robot H, which takes time to board and alight, boards the car G, it is possible to control the circulation time of the car G (the time required to complete one round in the operation section) within an appropriate range.

[0081] [2] Modification Example [2-1] First Modification Example The first modification example is a modification of the above-described embodiment. In this modification example, the control process performed by the group management control device 3 is modified so that it can also be applied when multiple robots H may board or alight on the same floor. Specifically, the second sorting process is modified as follows.

[0082] FIG. 6 is a flowchart showing the second sorting process executed in the first modification example. As described in the above embodiment, when the group management control device 3 determines "Yes" in step S22, it can be determined that the stop count (number of times) to the value of variable Y (= destination floor Fd in the received information Pr) has already been counted in the value of variable R(Pg) (= the number of scheduled stops Ns obtained in step S21).

[0083] On the other hand, in this modification example, since it is assumed that multiple robots H may board or alight on the same floor, the already counted stop may not only correspond to one stop corresponding to the landing call for the user, but may also correspond to one stop (weighted) corresponding to the landing call for another robot H (a robot H different from the target robot Hp that is the execution target of the assignment within the control process). And when multiple robots H board or alight on the same floor, since those robots H board and alight in order, until all the boarding and alighting of those robots H are completed, the time required for each of those robots H to board and alight added together is necessary.

[0084] Therefore, in this modification example, when the group management control device 3 determines "Yes" in step S22, in order to determine whether the already counted stop corresponds to one stop corresponding to the landing call for either the user or the robot H, it is determined whether there is a landing call for a robot H different from the target robot Hp among the assigned landing calls whose destination floor Fd is the same as the value of variable Y (step S30).

[0085] And when the group management control device 3 determines "Yes (contained)" in step S30, it newly counts the stop time (weighted for each time) corresponding to the assignment for the target robot Hp. Specifically, the group management control device 3, by executing step S23A, adds to the time weighted for one stop corresponding to the assignment for another robot H the time weighted for one stop corresponding to the assignment for the target robot Hp, and further counts it. Thereby, when a plurality of robots H get on and off at the same floor, it becomes possible to reflect in the value of the variable R(Pg) the time required until those robots H complete getting on and off (the total time obtained by adding up the times required for each of those robots H to get on and off).

[0086] On the other hand, when the group management control device 3 determines "No (not contained)" in step S30, based on this determination, it can be determined that the stop time that has already been counted corresponds to one stop corresponding to the landing call for the user. In this case, the group management control device 3 executes step S23B in the same manner as in the above-described embodiment.

[0087] [2-2] Second Modification Example The second modification example is a modification example of the above-described embodiment. In this modification example, the control process performed by the group management control device 3 is modified such that instead of setting an upper limit value Nt for the planned number of stops Ns to improve the transportation efficiency, an upper limit value Tt is set for the planned stop time Ts caused by the assignment to the car G to improve the transportation efficiency.

[0088] FIG. 7(A) is a conceptual diagram illustrating car management data Dq used in the second modification example. As illustrated in this figure, in the car management data Dq, for each car G, the car information Pg and the planned stop time Ts caused by the assignment of the landing call to that car G are recorded in a state where they are associated with each other.

[0089] Here, the scheduled stop time Ts is the integrated value of the scheduled stop times (including those that have already stopped) during one round of the operation section by the car G. In this modified example, the scheduled stop time Ts is specifically the integrated value of the scheduled stop times at the destination floor Fd. And the value of the scheduled stop time Ts recorded for each car G in the car management data Dq is updated each time the assignment to the corresponding car G is executed (see steps S160 to S161 in FIG. 8).

[0090] Also, the upper limit value Tt and further the user's alighting time Tb are stored in the storage unit 31. Here, this alighting time Tb is the stop time for one time of the car G required for the user to alight from the car G at the stop floor (here, the destination floor Fd) (the stop time for one time corresponding to the assignment for the user). As an example, for the alighting time Tb, the average time required from when the user starts alighting from the car G until the alighting is completed can be used.

[0091] FIG. 7(B) is a conceptual diagram illustrating the robot management data Dr used in the second modified example. As illustrated in this figure, in the robot management data Dr, for each robot H, the robot information Ph, the alighting time Tc, and the current floor Fp are recorded in a state where they are associated with each other.

[0092] Here, the alighting time Tc associated with each robot H is the stop time for one time of the car G required for that robot H to alight from the car G at the stop floor (here, the destination floor Fd) (the stop time for one time corresponding to the assignment for that robot H). As an example, for the alighting time Tc associated with each robot H, the average time required from when that robot H starts alighting from the car G until the alighting is completed can be used.

[0093] In this modified example, when the robot management device 4 receives the destination floor Fd and the robot information Ph from each robot H, when the robot management device 4 extracts the current floor Fp of the robot H using the robot management data Dr, the alighting time Tc of that robot H is also extracted.

[0094] Then, the robot management device 4 transmits the extracted current floor Fp and the car descent time Tc, with the current floor Fp being the departure floor Fc (= Fp) of the robot H, to the group management control device 3 together with the destination floor Fd and the robot information Ph received from the robot H. Thereby, a call registration for the robot H (assignment of a landing call to the car G for the robot H) is requested to the group management control device 3.

[0095] FIG. 8 is a flowchart showing the control performed by the group management control device 3 in the second modification. When the group management control device 3 determines in step S100 (see FIG. 8) that the "device information Pd" is included, when setting the three variables X to Z, for the variable Z, instead of the upper limit value Nt, the upper limit value Tt is substituted into the variable Z (step S140). Thereafter, the group management control device 3 executes a first selection process for selecting, for each of all the cars G, candidates that can be the assignment targets for the users (assignment candidates for the landing calls for the users) (step S141).

[0096] FIG. 9 is a flowchart showing the first selection process executed in the second modification. In the first selection process, the group management control device 3 uses the car G being focused on in the process as the focused car Gk, and acquires the accumulated scheduled stop time Ts up to that point for the focused car Gk (step S41). Specifically, the group management control device 3 acquires the scheduled stop time Ts associated with the car information Pg of the focused car Gk using the car management data Dq (see FIG. 7(A)). Then, the group management control device 3 substitutes the acquired scheduled stop time Ts into the variable R(Pg) (Pg is the car information Pg of the focused car Gk).

[0097] After step S41, the group management control device 3 determines whether there is a landing call already assigned to the focused car Gk (including those that have arrived at the departure floor Fc or the destination floor Fd for one round of the operation section) whose destination floor Fd is the same as the value of the variable Y (= the destination floor Fd in the received information Pr) (step S42).

[0098] When the group management control device 3 determines "Yes" in step S42, based on this determination, it can be determined that the stop time (in hours) to the value of variable Y (= destination floor Fd in the received information Pr) has already been accumulated in the value of variable R(Pg) (= the scheduled stop time Ts obtained in step S41). In this case, the group management control device 3 leaves the value of variable R(Pg) as it is without performing new accumulation (step S43A), and adds the target car Gk to the candidates for assignment of the landing call for the user (step S45). Then, the group management control device 3 ends the first screening process.

[0099] On the other hand, when the group management control device 3 determines "No" in step S42, based on this determination, it can be determined that the stop time (in hours) to the value of variable Y (= destination floor Fd in the received information Pr) has not yet been accumulated in the value of variable R(Pg) (= the scheduled stop time Ts obtained in step S41). In this case, the group management control device 3 newly accumulates the stop time corresponding to the assignment for the user (= alighting time Tb). Specifically, the group management control device 3 accumulates the stop time for one assignment corresponding to the user by setting the value obtained by adding the alighting time Tb of the user to the value of variable R(Pg) as the new variable R(Pg) (step S43B).

[0100] After step S43B, the group management control device 3 determines whether the value of variable R(Pg) is less than or equal to the value of variable Z (= upper limit value Tt) in order to determine whether the target car Gk can be added to the assignment candidates (step S44).

[0101] And when the group management control device 3 determines "Less than or equal to the value of variable Z (Yes)" in step S44, based on this determination, it can be determined that there is enough margin to make an assignment for the user in the scheduled stop time Ts of the target car Gk. In this case, the group management control device 3 adds the target car Gk to the candidates for assignment of the landing call for the user (step S45), and then ends the first screening process.

[0102] On the other hand, when the group management control device 3 determines "No" (not less than the value of variable Z) in step S44, in order to improve the transportation efficiency by restricting the increase in the scheduled stop time Ts of the target car Gk, the group management control device 3 ends the first screening process without adding the target car Gk to the allocation candidates for the landing call for the user so that the target car Gk does not become the target of allocation. In this way, when the value of the variable R(Pg) for the target car Gk reaches the upper limit value Tt, the group management control device 3 restricts the allocation to that target car Gk.

[0103] After step S141 (see FIG. 8), the group management control device 3 determines whether it has found an allocation candidate by executing step S141 (step S142). When the group management control device 3 determines "No" (not found) in step S142, in order to be able to find an allocation candidate even in such a case, the upper limit value Tt is relaxed (step S143), and then step S141 is executed again. Specifically, the group management control device 3 sets a value obtained by adding a predetermined value Zx (time) to the value of the variable Z as the new variable Z. After that, the group management control device 3 executes step S141 again using the new variable Z. Then, the group management control device 3 repeatedly executes steps S143 and S141 until it can determine "Yes" (found) in step S142.

[0104] When the group management control device 3 can determine "Yes" (found) in step S142, it executes the allocation of the landing call, which is the values of the variables X and Y (departure floor Fc and destination floor Fd), to any one of the cars G in the allocation candidates found in step S141 as one landing call (step S160).

[0105] Thereafter, the group management control device 3 updates the scheduled stop time Ts for the car G that was the target of allocation in step S160 to the value of the variable R(Pg) obtained in step S43A or S43B (see FIG. 9) for that car G in the car management data Dq (step S161).

[0106] When the group management control device 3 determines in step S100 (see FIG. 8) that the “robot information Ph” is included, when setting the four variables Q, X to Z, for the variable Q, instead of the coefficient Wc, the getting-off time Tc in the received information Pr is substituted into the variable Q, and for the variable Z, instead of the upper limit value Nt, the upper limit value Tt is substituted into the variable Z (step S150). Then, the group management control device 3 executes a second selection process for selecting, for each of all the carriages G, candidates that can be the assignment targets for the robot H (assignment candidates for the landing call for the robot H) (step S151).

[0107] FIG. 10 is a flowchart showing the second selection process executed in the second modification example. In the second selection process, the group management control device 3 uses the carriage G that it is focusing on in the process as the target carriage Gk, and for the target carriage Gk, obtains the accumulated scheduled stop time Ts up to that point (step S51). Specifically, the group management control device 3 obtains the scheduled stop time Ts associated with the carriage information Pg of the target carriage Gk using the carriage management data Dq (see FIG. 7(A)). Then, the group management control device 3 substitutes the obtained scheduled stop time Ts into the variable R(Pg) (Pg is the carriage information Pg of the target carriage Gk).

[0108] After step S51, the group management control device 3 determines whether there is a landing call already assigned to the target carriage Gk (for one round of the operation section, including those that have already arrived at the departure floor Fc or the destination floor Fd) in which the destination floor Fd is the same as the value of the variable Y (= the destination floor Fd in the received information Pr) (step S52).

[0109] When the group management control device 3 determines "No" in step S52, based on this determination, it can be determined that the stop time (in hours) for the value of variable Y (= destination floor Fd in the received information Pr) has not yet been accumulated in the value of variable R(Pg) (= the scheduled stop time Ts obtained in step S51). In this case, the group management control device 3 newly accumulates the stop time (= getting-off time Tc) corresponding to the assignment for robot H. Specifically, the group management control device 3 adds the value of variable Q (= getting-off time Tc) to the value of variable R(Pg) to obtain a new variable R(Pg), thereby accumulating the stop time for one instance corresponding to the assignment for robot H (step S53A). This makes it possible to reflect in the value of variable R(Pg) the fact that robot H takes more time for boarding and alighting than the user.

[0110] On the other hand, when the group management control device 3 determines "Yes" in step S52, based on this determination, it can be determined that the stop time (in hours) for the value of variable Y (= destination floor Fd in the received information Pr) has already been counted in the value of variable R(Pg) (= the scheduled stop time Ts obtained in step S51). Here, in this modified example, similar to the above-described embodiment, it is assumed that multiple robots H do not board or alight on the same floor. Therefore, the already accumulated stop time corresponds to the stop time for one instance corresponding to the landing call for the user.

[0111] Also, while robot H takes time for boarding and alighting, the user hardly needs any time for boarding and alighting. Therefore, at the stop floor where robot H boards or alights and the user boards or alights, the user can complete boarding and alighting within the boarding and alighting time range of robot H. Accordingly, at such a stop floor, it can be considered that by simply accumulating the stop time for one instance corresponding to the assignment for robot H as the scheduled stop time Ts, it also includes the stop time for one instance corresponding to the assignment for the user.

[0112] Therefore, when the group management control device 3 determines "Yes" in step S52, while reducing the alighting time Tb of the user from the value of the variable R(Pg), it adds the value of the variable Q (= alighting time Tc) to it to obtain a new variable R(Pg), and thereby replaces and recalculates the accumulated stop time for one time corresponding to the allocation for the user with the stop time for one time corresponding to the allocation for the robot H as the scheduled stop time Ts (step S53B).

[0113] According to step S53B, it is possible to prevent duplication of the accumulation of the scheduled stop time Ts, and as a result, it is possible to prevent the stop time from being accumulated more than necessary for one stop.

[0114] After step S53A or S53B, the group management control device 3 determines whether the value of the variable R(Pg) is less than or equal to the value of the variable Z (= upper limit value Tt) in order to determine whether the target car Gk can be a candidate for allocation (step S54).

[0115] And when the group management control device 3 determines "Yes, less than or equal to the value of the variable Z" in step S54, based on this determination, it can be determined that there is enough margin to allocate the robot H to the scheduled stop time Ts of the target car Gk. In this case, the group management control device 3 adds the target car Gk to the candidate for allocation of the landing call for the robot H (step S55), and then ends the second screening process.

[0116] On the other hand, when the group management control device 3 determines "No, not less than or equal to the value of the variable Z" in step S54, in order to limit the increase in the scheduled stop time Ts of the target car Gk and improve the transportation efficiency, the group management control device 3 ends the second screening process without adding the target car Gk to the candidate for allocation of the landing call for the robot H so that the target car Gk is not the object of allocation. In this way, when the value of the variable R(Pg) for the target car Gk reaches the upper limit value Tt, the group management control device 3 restricts the allocation to that target car Gk.

[0117] After step S151 (see FIG. 8), the group management control device 3 determines whether it has found an allocation candidate by executing step S151 (step S152). If the group management control device 3 determines in step S152 that "it could not be found (No)", in order to be able to find an allocation candidate even in such a case, the upper limit value Tt is relaxed (step S153), and then step S151 is executed again. Specifically, the group management control device 3 sets a new variable Z by adding a predetermined value Zx (time) to the value of the variable Z. After that, the group management control device 3 executes step S151 again using the new variable Z. Then, the group management control device 3 repeatedly executes steps S153 and S151 until it can determine in step S152 that "it has been found (Yes)".

[0118] Here, when making an allocation for the robot H, if we try to accumulate the stop time for one instance corresponding to that allocation (the stop time required when the robot H gets off the elevator), the planned stop time Ts is likely to exceed the upper limit value Tt. Therefore, a situation may occur where it is impossible to find a car G (allocation candidate) that can be the target of the allocation as it is. Thus, in this modified example, as described above, by relaxing the upper limit value Tt and trying to select an allocation candidate again, it is possible to surely find an allocation candidate for the landing call for the robot H, and as a result, it is possible to surely make an allocation for the robot H.

[0119] If the group management control device 3 can determine in step S152 that "it has been found (Yes)", it executes the allocation of the landing call as one landing call with the values of the variables X and Y (departure floor Fc and destination floor Fd) to any one of the cars G within the allocation candidate found in step S151 (step S160).

[0120] Thereafter, the group management control device 3 updates, in the car management data Dq, the scheduled stop time Ts for the car G targeted for allocation in step S160 to the value of the variable R(Pg) obtained for that car G in step S53A or S53B (see FIG. 10) (step S161).

[0121] According to the second modification example, by providing an upper limit value Tt to the scheduled stop time Ts to limit the allocation to the car G, an increase in the stop time of the car G (the stop time per lap when circulating in the operation section) can be restricted. And when performing allocation for the robot H, as the scheduled stop time Ts, by accumulating the stop time for one time corresponding to that allocation (the stop time required when the robot H gets off), even when the robot H gets on the car G, the actual stop time of the car G can be restricted to be about the same as when only the user gets on. Therefore, even when the robot H that takes time for boarding and alighting gets on the car G, it becomes possible to control the circulation time of the car G (the time required to make one lap in the operation section) within an appropriate range.

[0122] Note that the configuration of providing an upper limit value Tt to the scheduled stop time Ts to improve the transport efficiency as described above can also be applied to the first modification example described above.

[0123] [2-3] Third modification example In the above-described embodiment or the first modification example, the scheduled stop count Ns is not limited to being only the count of the number of times of scheduled stops at the destination floor Fd, and may be appropriately modified to be only the count of the number of times of scheduled stops at the departure floor Fc, or the count of both the number of times of scheduled stops at the departure floor Fc and the number of times of scheduled stops at the destination floor Fd. Also, different values may be set for the coefficient Wc associated with each robot H for getting off and getting on.

[0124] In the second modification example described above, the scheduled stop time Ts is not limited to the sum of only the scheduled stop times at the destination floor Fd, and may be appropriately modified to the sum of only the scheduled stop times at the departure floor Fc, or the sum of both the scheduled stop times at the departure floor Fc and the scheduled stop times at the destination floor Fd. Further, the boarding time of the user and the boarding time for each robot H used when calculating the scheduled stop time at the departure floor Fc may be set to different values from the alighting time Tb of the user and the alighting time Tc for each robot H, respectively.

[0125] [2-4] Fourth Modification Example In the above-described embodiments and modification examples, the group management control device 3 may be appropriately modified to also execute the control processes performed by the robot management device 4. In this case, the group management control device 3 will receive the destination floor Fd and the robot information Ph from each robot H.

[0126] The descriptions of the above embodiments and modification examples should be considered illustrative in all respects and not restrictive. The scope of the present invention is indicated not by the above embodiments or modification examples, but by the claims. Further, it is intended that the scope of the present invention includes all changes within the meaning and scope equivalent to the claims.

[0127] Also, from the above embodiments and modification examples, as the subject of the invention, not only the group management control device 3 but also the control processes and programs executed by the group management control device 3 may be individually extracted, or a part of them may be partially extracted. Further, a part or all of the elevator including the group management control device 3 may be extracted as the subject of the invention.

Explanation of Reference Numerals

[0128] 1 Destination Floor Registration Device 2 Elevator Control Device 3 Group Management Control Device 4 Robot Management Device G Car H Robot 31, 41 Storage Unit 32, 42 Control section Dp Equipment Management Data Dq Basket management data Dr Robot Management Data Fc Departure floor Fd Destination floor Fp Current Floor Fs Installation floor GK Focus Basket Hp Target Robot Ns Scheduled number of stops Nt Upper limit Pd device information Pg Basket Information Ph Robot Information Pr Reception Information Tb, Tc Drop-off time Ts Scheduled stop time Tt upper limit Wc coefficient Zx predetermined value

Claims

1. a control device for allocating hall calls to elevator cars in response to a request for call registration for a user in an elevator and a request for call registration for a robot in an elevator, both of which are received from a robot management device or the robot itself together with robot information for identifying the robot; Each time the request is received, a determination is made as to whether or not the robot information is included in the information received together with the request, and if it is determined that the robot information is included, the received request is determined to be a call registration request for the robot; A scheduled stop time for the car caused by the allocation in response to the request is accumulated each time the allocation is made, and among the above, when the allocation for the robot is made, a stop time for one time corresponding to the allocation is accumulated; An elevator control device that limits the allocation to the elevator car when the scheduled stop time reaches an upper limit value.

2. 2. The elevator control device of claim 1, wherein, when attempting to execute the allocation for the robot, if the planned stop time obtained by the accumulation at that time reaches the upper limit value and a car that can be the target of the allocation cannot be found, the upper limit value is relaxed and the execution of the allocation is attempted again.

3. 3. An elevator control device as described in claim 1 or 2, wherein, when executing the assignment for the robot, if the destination floor or departure floor of the robot coincides with the destination floor or departure floor of a user who has already been assigned to the elevator car, the scheduled stop time is calculated by replacing the accumulated stop time for one time corresponding to the assignment for the user with the stop time for one time corresponding to the assignment for the robot and re-accumulating it.

Images