Control method and monitoring device

Abstract

To realize an elevator that enables the use of a self-propelled robot more simply and inexpensively with minimal modifications to an existing elevator system.SOLUTION: When controlling operations performed by a user in an elevator car through remote operation instructions, a communication device such as an autonomous traveling type robot 201 using the elevator transmits instruction information related to operations performed by the user in the elevator car, and a monitoring device 203 provided near the elevator and monitoring a status of the elevator receives the instruction information and transmits an operation signal based on the received instruction information to an in-car operation panel 102 which receives operation signals from each operation button 101 provided in the car, or to an elevator control panel 104. It also obtains position information of the car and transmits the obtained position information of the car to the robot 201.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This invention relates to a control method and a monitoring device for controlling operations performed by passengers in an elevator car according to remote operation instructions.

Background Art

[0002] Inside an elevator car, a user (passenger) can perform operations such as moving the car and opening / closing the doors by operating the operation buttons provided inside the car, i.e., by pressing or touching them.

[0003] Specifically, inside the car, the car can be moved to the desired floor by pressing or touching the button with the number of the desired floor. Thus, in order to move the car to the desired floor, the passenger had to board the car and operate the operation buttons inside the car. Also, by pressing or touching the 'Open' button, the opening of the door can be extended. Further, by pressing or touching the 'Close' button, the door can be closed.

[0004] Recently, there is a technology of causing a self-propelled robot to carry luggage or the like by having the robot board an elevator together with passengers and move between floors of a building (see, for example, Patent Documents 1 to 8 below).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

[0006] However, in the above-described conventional technology, since it is difficult for a robot to operate an operation button, in order to move the robot to a desired floor, it is necessary to replace the control panel of the target elevator from the conventional one with a robot-compatible control panel or to improve the robot-compatible control panel. And the replaced or improved robot-compatible control panel receives a movement request from the robot and controls the movement of the car.

[0007] Therefore, there has been a problem (issue) that a lot of labor and cost are required for work such as replacing and improving the control panel for each elevator to be boarded by the robot.

[0008] In addition, there has been a problem that the elevator side needs to receive the movement request information from the robot quickly and reliably, and make the robot get on and off the car more smoothly.

[0009] In order to solve the problems caused by the above-described conventional technology, an object of the present invention is to provide a control method and a monitoring device that can realize an elevator that can more easily and inexpensively enable the use of communication devices including self-propelled robots and can smoothly perform the getting on and off of the robots. [Means for Solving the Problems]

[0010] ​​​​​​In order to solve the above-described problems and achieve the object, a control method according to the present invention is a control method for controlling operations performed by a user in an elevator car by remote operation instructions. An autonomous driving robot that uses the elevator executes a process of transmitting instruction information regarding operations performed by a user in the elevator car. A monitoring device provided near the elevator for monitoring the state of the elevator receives the instruction information and, based on the received instruction information, executes a process of transmitting an operation signal to an operation panel that receives an operation signal of each operation button provided in the car or to a control panel of the elevator.

[0011] Further, in the control method according to the present invention, in the above invention, the robot executes a process of transmitting the instruction information to a communication terminal device connected to the robot by wireless communication, and the communication terminal device receives the instruction information transmitted from the robot and executes a process of transmitting the received instruction information to the monitoring device.

[0012] Further, in the control method according to the present invention, in the above invention, the robot executes a process of transmitting the instruction information to a management server that manages the robot, and the communication terminal device executes a process of receiving the instruction information via the management server.

[0013] Further, in the control method according to the present invention, in the above invention, the robot is provided at a remote location of the elevator, connected to the monitoring device, and executes a process of transmitting the instruction information to a remote monitoring server that manages the elevator. The monitoring device executes a process of receiving the instruction information via the remote monitoring server.

[0014] Further, in the control method according to the present invention, in the above invention, the robot executes a process of transmitting the instruction information to a management server that manages the robot, and the monitoring device executes a process of receiving the instruction information via the management server and a remote monitoring server that is provided at a remote location of the elevator, connected to the monitoring device, and manages the elevator.

[0015] Further, the control method according to the present invention is a control method for controlling an operation performed by a user in an elevator car by a remote operation instruction. A communication device executes a process of transmitting instruction information regarding an operation performed by a user in the elevator car, and a monitoring device provided near the elevator and monitoring the state of the elevator receives the instruction information and, based on the received instruction information, executes a process of transmitting an operation signal to an operation panel that receives an operation signal of each operation button provided in the car or to a control panel of the elevator.

[0016] In order to solve the above-described problems and achieve the object, the monitoring device according to the present invention is a monitoring device provided near an elevator and monitoring the state of the elevator. The monitoring device receives instruction information regarding an operation performed by a user in the elevator car from an autonomous driving robot that uses the elevator, and based on the received instruction information, transmits an operation signal to an operation panel that receives an operation signal of each operation button provided in the car or to a control panel of the elevator.

[0017] Further, the monitoring device according to the present invention is a monitoring device provided near an elevator and monitoring the state of the elevator. The monitoring device receives instruction information regarding an operation performed by a user in the elevator car from a communication device and, based on the received instruction information, transmits an operation signal to an operation panel that receives an operation signal of each operation button provided in the car or to a control panel of the elevator.

Effects of the Invention

[0018] According to the control method and monitoring device of the present invention, by making minimal improvements to an existing elevator system, it is possible to realize an elevator that enables the use of communication devices including self-propelled robots more simply and inexpensively. Further, according to the control method and monitoring device of the present invention, it is possible to realize an elevator that can perform the boarding and alighting of the robot more smoothly.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 4C

Figure 4D

Figure 4E

Figure 5

Figure 6A

Figure 6B

Figure 6C

Figure 6D

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0020] Hereinafter, with reference to the accompanying drawings, preferred embodiments of the control method and monitoring device according to the present invention will be described in detail.

[0021] Figure 1 is an explanatory diagram showing an overview of elevator car movement control. In Figure 1, reference numeral 101 is an operation button provided inside the elevator car into which passengers board, reference numeral 102 is a car operation panel provided on the car, reference numeral 103 is a car control board provided above the car, and reference numeral 104 is a control board provided in the elevator machine room or the like.

[0022] The operation buttons 101 are usually provided, for example, on both sides of the door and on the wall surface of the elevator car, at a predetermined height that can be operated by the passengers in the car. The operation buttons 101 are composed of buttons indicating the floor number (desired floor) where movement (ascending and descending) is desired. In FIG. 1, a five-story building is assumed, and as the operation buttons 101, five buttons numbered "1" to "5" corresponding to each floor (1st floor to 5th floor) are provided. Although not shown in the figure, in addition to the five buttons numbered "1" to "5", buttons such as an "open" button and a "close" button for opening and closing the door may be provided.

[0023] And for each of the buttons "1" to "5", signal lines 111 to 115 are wired-connected to the in-car operation panel 102 in the car. When each button is operated (for example, touched or pressed), the operation signal (car call signal) of the button is input in parallel to the in-car operation panel 102 via one of the signal lines 111 to 115 corresponding to each button.

[0024] The in-car operation panel 102 is provided in the elevator car. Specifically, for example, it is provided at a position outside the inner wall surface of the car, such as the back side of the operation button 101, and is not recognized by the user. The in-car operation panel 102 receives the operation signals of the buttons of the operation button 101 via the signal lines 111 to 115.

[0025] The in-car operation panel 102 and the car control board 103 are connected by a wired signal line 116. The signal exchange between the in-car operation panel 102 and the car control board 103 is not limited to wired (signal line 116), and may be by wireless communication (for example, Wi-Fi (registered trademark), etc.).

[0026] Based on the operation signals received via the signal lines 111 to 115, the in-car operation panel 102 determines which signal line among 111 to 115 the operation signal is from. Based on the determined result, the operation signal (car call signal) for the corresponding floor is transmitted to the car control board 103 via the signal line 116.

[0027] The cage control board 103 is provided, for example, on the cage and aggregates the control of cage-related devices. Specifically, the cage control board 103 performs controls within the cage, such as which button among the operation buttons 101 has been pressed, display on the display in the cage indicating the floor and direction arrows, motor control for door opening and closing, and grasping the state of the safety switch.

[0028] The control panel 104 is connected to the cage control board 103 by a wired signal line (for example, the tail cord 117) and performs signal transmission and reception with the cage control board 103. The cage control board 103 receives an operation signal (cage call signal) received via the signal line 116 from the operation panel 102 in the cage and transmits the operation signal to the control panel 104 via the tail cord 117.

[0029] The control panel 104 drives and controls each part of the elevator. For example, the control panel 104 drives and controls the hoist to move (raise and lower) the cage. Although not shown in the figure, the control panel 104 may be connected to a management server computer installed at a remote location of the elevator via a network. In this case, the management server computer can monitor and remotely control the operation of the elevator by performing wireless or wired communication with the control panel 104 via the control panel 104.

[0030] The control panel 104 that has received an operation signal (cage call signal) via the tail cord 117 drives and controls the hoist based on the operation signal and moves (raises and lowers) the cage to the corresponding floor. In this way, when the passenger in the cage operates the operation button 101, the cage can be moved to the desired floor.

[0031] Next, the flow of elevator car movement control will be described in more detail. Inside the car, for example, when the button "5" among the operation buttons 101 is pressed by a passenger, the signal is input to the in-car operation panel 102 via the signal line 115. The in-car operation panel 102 sends the car call signal for "5" (the 5th floor) to the car control board 103 via the wired signal line 116. The car control board 103 transmits the car call signal for the 5th floor to the control panel 104 via the tail cord 117. The control panel 104 receives the car call signal for the 5th floor, performs elevator car ascending / descending control, and thereby moves the car to the 5th floor.

[0032] When the button "4" among the operation buttons 101 is pressed, the signal is input to the in-car operation panel 102 via the signal line 114, and similarly, elevator car ascending / descending control to the 4th floor is performed. Also, when the button "3" is pressed, the signal is input to the in-car operation panel 102 via the signal line 113. When the button "2" is pressed, the signal is input to the in-car operation panel 102 via the signal line 112. When the button "1" is pressed, the car call signal is input to the in-car operation panel 102 via the signal line 111, sent to the control panel 104 via the car control board 103, and elevator car ascending / descending control to the 3rd, 2nd, and 1st floors is respectively performed by the control panel 104.

[0033] In this way, the operation of the operation buttons 101 by the passengers who have entered the car causes the car to move to the desired floor. Since the signal lines 111 to 115 are connected in parallel between the buttons "1" to "5" of the operation buttons 101 and the in-car operation panel 102, when multiple buttons among the buttons "1" to "5" of the operation buttons 101 are operated, for example, when "2" and "4" are operated, operation signals are input to the in-car operation panel 102 from the signal line 112 and the signal line 114 respectively, and the in-car operation panel 102 sends the car call signal for "2" (the 2nd floor) and the car call signal for "4" (the 4th floor) to the car control board 103 via the signal line 116.

[0034] (Embodiment 1) FIG. 2 is an explanatory diagram showing an example of the configuration of an elevator car movement control system including the car upper control device according to Embodiment 1 of the present invention. Note that the same components as those shown in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted.

[0035] In FIG. 2, reference numeral 201 denotes a robot that can enter an elevator, reference numeral 202a denotes a remote monitoring server that controls and manages a plurality of elevators from a remote location, reference numeral 202b denotes a device management server that manages various devices including the robot 201, reference numeral 203 denotes a monitoring device provided near the elevator for monitoring the elevator, reference numeral 204 denotes a communication terminal for devices that controls the communication between the robot 201 and the remote monitoring device 203, reference numeral 205 denotes a car upper control device provided on the car, reference numeral 206 denotes a communication unit included in the car upper control device 205, and reference numeral 207 denotes a control unit included in the car upper control device 205.

[0036] The robot 201 is, for example, a self-propelled autonomous transport robot that can self-propel and actually enter the elevator car without relying on human hands and move between the floors of the building. A detailed description of the robot 201 will be given later with reference to FIG. 3.

[0037] The remote monitoring server 202a is usually provided at a remote location away from the building where the elevator is installed, and is an information processing device that remotely monitors the operation of the elevator and distributes and collects various information. The server 202 may be the management server computer described above, or may be another information processing device.

[0038] The device management server 202b is provided separately from the server for remote monitoring of the operation of the elevator, and is a robot management server that controls and manages the robot 201 and exchanges information such as information between the robot 201 and the elevator.

[0039] The remote monitoring server 202a and the device management server 202b are connected to the robot 201 by a wireless communication method such as LTE (Long Term Evolution) and can transmit and receive various information to and from the robot 201. The wireless communication method between the remote monitoring server 202a, the device management server 202b and the robot 201 is not limited to LTE, and may be wireless communication by other communication methods.

[0040] In addition, the remote monitoring server 202a and the device management server 202b are connected by the IP protocol. The remote monitoring server 202a is provided with input / output ports of a predefined API (Application Programming Interface) and can receive elevator operation instructions from the device management server 202b.

[0041] The monitoring device 203 can be realized by a so-called remote monitoring device or the like that is attached near the elevator, for example, to a housing that houses the elevator control panel 104 or to the wall of the hoistway.

[0042] More specifically, an I / O board integrated with the remote monitoring device may be used as an interface to communicate directly with the control panel 104 serially or in parallel, or may be connected in parallel to the circuit of the operation button 101 in the car via the car control device 205 to perform button operations from the outside. The I / O board of the monitoring device 203 can be shared for remote monitoring purposes. This makes it possible to receive commands from devices such as remote monitoring, remote inspection, and the robot 201 using the same device and control the elevator.

[0043] As shown in FIG. 2, the monitoring device 203 is connected to the control panel 104, acquires signals (control signals) output from each part of the elevator from the control panel 104, and generates notification information (including information regarding the state of the elevator and identification information of the elevator that is the source of the notification information) based on the acquired control signals, and can transmit the generated notification information to a management server computer (not shown) (the management server computer may be the remote monitoring server 202a).

[0044] Thus, in the case of a relatively new elevator, since the monitoring device 203 can acquire information from the control panel 104, the monitoring device 203 can grasp the car position, that is, at which position in the hoistway the car is located, based on the acquired information.

[0045] However, in the case of a relatively old elevator or the like, since information may not be acquired from the control panel 104, the monitoring device 203 cannot surely grasp the car position. In that case, for example, the car position can be specified using UWB (Ultra-Wide Band) wireless communication. Specifically, a communication device (not shown) is installed above in the hoistway, and by using the ultra-wideband frequency bandwidth, the distance from the communication device to the car is measured, and based on the measured distance, the car position is specified.

[0046] The monitoring device 203 is provided with a wireless communication function and is connected to the remote monitoring server 202a by a wireless communication method such as LTE, and can perform transmission and reception of various information such as operation signals and car position information with the remote monitoring server 202a. The wireless communication method between the monitoring device 203 and the remote monitoring server 202a is not limited to LTE, and may be wireless communication by other communication methods.

[0047] In addition, the monitoring device 203 can change the operation of the elevator according to the instruction source. For example, in the case of an operation instruction from the robot 201, after the door is opened, the door can be prevented from closing until the robot has finished boarding. Also, in the case of an operation instruction from a passenger in the car, the door can be set to close after a certain period of time has elapsed after the door is opened. Further, in the case of an operation instruction from the auto-lock, the car can be moved to the floor with an entrance, the door can be opened, and the elevator can wait.

[0048] In addition, the monitoring device 203 can be directly connected to the robot 201 by a wireless communication method such as LTE without going through the remote monitoring server 202a, and can also transmit and receive various information such as operation signals and car position information between the robot 201. Details will be described with reference to FIG. 4C to be described later.

[0049] The communication terminal 204 for equipment is connected to equipment such as the robot 201 by wireless communication, communicates with equipment such as the robot 201, and is connected to the monitoring device 203 by wired or wireless communication, and controls the communication between the robot 201 and the monitoring device 203.

[0050] The car top control device 205 is provided on the car top, for example, in the vicinity of the car control board 103. Alternatively, the car top control device 205 may be provided integrally with the car control board 103. The car top control device 205 has a communication unit 206 and a control unit 207.

[0051] The car top control device 205 can use the communication unit 206 to perform various information transmission and reception with the monitoring device 203 by a short-range wireless communication method such as Wi-Fi. The communication between the communication unit 206 and the monitoring device 203 is not limited to Wi-Fi, and other wireless communication methods may be used, or communication may be performed by wire.

[0052] The control unit 207 is connected to the communication unit 206 in the car control device 205 by a signal line or the like through wire, and the signal received by the communication unit 206 is input via the signal line. The control unit 207 and the communication unit 206 may be formed as an integrated device (one housing) as the car control device 205, or the communication unit 206 may be provided separately from the car control device 205 as a communication device.

[0053] The control unit 207 individually connects signal lines 211 to 215 to the middle of signal lines 111 to 115 between the operation buttons 101 and the in-car operation panel 102, for example, by crimp terminals or the like. In this way, branch wirings (signal lines 211 to 215) are connected to the existing wirings (signal lines 111 to 115) between the operation panel that receives the operation signals of the respective operation buttons. Then, the control unit 207 can transmit signals similar to the operation signals (car call signals) of the buttons transmitted when each button of the operation button 101 is operated to the respective signal lines 111 to 115 via the signal lines 211 to 215.

[0054] By doing so, for example, when an operation signal is sent (output) from the control unit 207 to the signal line 211, the operation signal is input to the in-car operation panel 102 via the signal line 111 from the contact point between the signal line 211 and the signal line 111. When the in-car operation panel 102 receives the signal, it determines that there has been an operation of calling the car on the first floor and sends a signal to that effect to the car control board 103 via the signal line 116. The car control board 103 that has received the signal sends a signal regarding the operation of calling the car on the first floor to the control board 104 via the tail cord 117. Thereby, the control board 104 can perform an operation of moving the car to the first floor.

[0055] Therefore, just by the control unit 207 of the car upper control device 205 sending an operation signal to the signal line 211, the car can be moved to the first floor in the same way as when the passenger in the car operates the button "1" of the operation button 101, without the passenger in the car operating the button "1" of the operation button 101. Similarly, when the control unit 207 sends operation signals to the signal lines 212 to 215, the car can be moved to each floor (the second floor to the fifth floor).

[0056] Next, the flow of the operation of the robot 201 will be described. Assume that the robot 201 on the first floor moves to the fourth floor which is the desired floor. First, information about the floor where the robot 201 is currently located, that is, the floor where boarding is desired (the first floor), is input to the robot 201. The input of information about the floor where boarding is desired for the robot 201 may be manually performed by the operator directly using a touch panel or the like described later on the robot, or may be performed by wireless communication from a remote location. Also, information about the floor where the robot 201 is currently located may be input to the robot 201 in advance, or the robot 201 itself may acquire information about the floor where it is currently located.

[0057] When information about the floor where boarding is desired (the first floor) is input, the robot 201 transmits request information for requesting the movement of the car to the first floor to the monitoring device 203 via the remote monitoring server 202a, the device management server 202b, the device communication terminal 204, and the like. This request information includes, in addition to information about the floor where boarding is desired (the first floor), the ID information of the robot 201 itself and the ID information of the elevator (car) where boarding is desired. The robot 201 may directly transmit the request information to the monitoring device 203 without going through these. Details of the communication configuration between the robot 201 and the monitoring device 203 will be described later.

[0058] When the remote monitoring server 202a receives the request information, it identifies the corresponding elevator based on the request information and transmits operation command information including information on the desired floor to board (the first floor) and the ID information of the robot 201 to the monitoring device 203 provided near the identified elevator.

[0059] When the monitoring device 203 receives the operation command information, it transmits the information on the desired floor to board (the first floor) to the communication unit 206 of the car upper control device 205. The communication unit 206 that has received the information on the desired floor to board (the first floor) passes the information on the desired floor to board (the first floor) to the control unit 207. Then, based on the information on the desired floor to board (the first floor), the control unit 207 sends an operation signal to the signal line 211.

[0060] As a result, the car can be moved to the first floor, so that the robot 201 can board the car on the first floor without manually operating the button "1" of the operation button 101 in the car or without operating the call button at the landing on the first floor.

[0061] Next, after boarding the elevator car, the robot 201 transmits request information for requesting movement to the desired floor (the fourth floor) to the monitoring device 203 via the remote monitoring server 202a, the device management server 202b, the device communication terminal 204, and the like. This request information may include information on the desired floor (the fourth floor), the ID information of the robot 201, the ID information of the elevator that moves the car, and the like.

[0062] For example, when the remote monitoring server 202a receives the request information from the robot 201, it identifies the corresponding elevator based on the request information and transmits operation command information including information on the desired floor (the fourth floor) and the ID information of the robot 201 to the monitoring device 203 provided near the identified elevator.

[0063] When the monitoring device 203 receives the operation command information, it transmits information regarding the desired floor (the 4th floor) to the communication unit 206 of the car upper control device 205. The communication unit 206 that has received the information regarding the desired floor (the 4th floor) passes the information regarding the desired floor (the 4th floor) to the control unit 207. Then, based on the information regarding the desired floor (the 4th floor), the control unit 207 sends an operation signal to the signal line 214.

[0064] As a result, the robot 201 that has boarded the car on the 1st floor can move to the 4th floor in the boarded car and then get off the car on the 4th floor, so it can move from the 1st floor to the 4th floor without manually operating the operation button.

[0065] (Configuration of Robot 201) Next, the configuration of the robot 201 will be described. FIG. 3 is an explanatory diagram showing an example of the configuration of the robot. In FIG. 3, reference numeral 301 is the robot body (housing), reference numeral 302 is the luggage placement space, reference numeral 303 is the wheel, and reference numeral 304 is the display screen (touch panel).

[0066] Also, reference numeral 305 is the display control unit, reference numeral 306 is the information input unit, reference numeral 307 is the communication unit, reference numeral 308 is the imaging unit, reference numeral 309 is the traveling control unit, reference numeral 310 is the wheel drive unit. Also, reference numeral 311 is the storage battery.

[0067] The robot body (housing) 301 is provided with a luggage placement space 302, and luggage, dishes, etc. can be placed in the space and transported. Specifically, this robot 201 can be considered to be operated, for example, in a hotel, and the robot 201 can transport the luggage of the hotel guests to the guest rooms provided on each floor or transport meals by room service. In addition, even in buildings other than hotels, it can be used for transporting items to different floors of the building.

[0068] For this purpose, a plurality of wheels 303 are provided on the robot main body (housing) 301, and by means of these wheels 303, it can travel autonomously in any desired direction over 360 degrees, including changing directions.

[0069] Also, a lid member may be provided in the luggage placement space 302. This lid member may be equipped with a locking mechanism to prevent theft and mischief of luggage, etc., and only the owner of the luggage may be able to unlock it with a password or the like.

[0070] In addition, a display screen 304 is provided on the robot main body (housing) 301. Although not shown in the figure, the robot main body (housing) 301 is also provided with a camera for photographing the surroundings of the robot 201, various sensors for grasping the situation around the robot 201, a speaker for outputting sound, and so on.

[0071] The dimensions of the robot 201 are not particularly limited, but it is necessary to be of a size that can pass through the entrance of the cage with the elevator door open. Also, in order to enter together with the passengers, it is desirable to be of a size that does not obstruct the entry of the passengers when they get in. The dimensions of the robot 201 can be optimized according to the type and size of the luggage to be transported. Also, the luggage placement space 302 can be made variable according to the type and size of the luggage.

[0072] The robot 201 is equipped with hardware such as a CPU, a memory, a communication interface, and an input / output interface, and realizes various functions such as a display control unit 305, an information input unit 306, a communication unit 307, an imaging unit 308, and a traveling control unit 309.

[0073] The display control unit 305 can display various information using the display screen 304. Also, the information input unit 306 realizes its function through the input / output interface, and for example, by using the function of the touch panel of the display screen 304, when the operator touches the surface of the display screen 304, it can receive information regarding movement commands and input of various information.

[0074] The communication unit 307 realizes its functions through a communication interface and can transmit information about the moving floors of the elevator to an external device. Also, it can receive information regarding the movement commands of the robot 201 transmitted wirelessly from the external device, as well as position information of the elevator car that the robot 201 is to board, etc.

[0075] The imaging unit 308 controls a camera (not shown), captures the surroundings, and can transmit the captured information externally from the communication unit 307 or convey it to the travel control unit 309. The travel control unit 309 can control the wheel drive unit 310 based on the movement commands received by the information input unit 306 and the communication unit 307 to move (travel) the robot body 301. At that time, based on information from the imaging unit 308 and various sensors (not shown), it can avoid obstacles and safely travel the robot 201.

[0076] The wheel drive unit 310 realizes its functions by means of a motor or the like. The wheel drive unit 310 can rotate the motor based on a control signal from the travel control unit 309 and transmit the rotation to the wheels 303. Thereby, the robot body 301 can be moved.

[0077] Also, the storage battery 311 is a rechargeable battery such as a lithium battery and supplies power to each component of the robot 201. Although not shown, a charging station can be provided, and by moving the robot 201 there, the storage battery 311 can be charged. The storage battery 311 may also be a fuel cell that generates electricity using hydrogen, etc., in addition to a lithium battery.

[0078] As shown in Figure 3, the robot 201 is assumed to move autonomously using the wheels 303, but it is not limited to this as long as it can move autonomously. Specifically, for example, it may be a bipedal humanoid robot or a quadrupedal walking animal-type robot.

[0079] (Communication Configuration between Robot 201 and Monitoring Device 203) Next, the communication configuration between the robot 201 and the monitoring device 203 will be described. FIGS. 4A to 4E are explanatory diagrams showing the communication configurations (communication patterns A to E) between the robot 201 and the monitoring device 203, respectively.

[0080] Communication patterns A and B are configured using the device communication terminal 204, and communication patterns C to E are configured without using the device communication terminal 204.

[0081] FIG. 4A shows an example of the communication configuration (communication pattern A) between the robot 201 and the monitoring device 203. As shown in FIG. 4A, the transmission of information from the robot 201 to the monitoring device 203 according to communication pattern A is performed via the device management server 202b and the device communication terminal 204.

[0082] That is, the information transmitted from the robot 201 to the monitoring device 203 is first transmitted from the robot 201 to the device management server 202b. The device management server 202b identifies the device communication terminal 204 connected to the corresponding monitoring device 203, and the information is transmitted from the device management server 202b to the identified device communication terminal 204. Further, the information is transmitted from the device communication terminal 204 to the monitoring device 203, and the monitoring device 203 receives the information.

[0083] FIG. 4B shows another example of the communication configuration (communication pattern B) between the robot 201 and the monitoring device 203. As shown in FIG. 4B, the transmission of information from the robot 201 to the monitoring device 203 according to communication pattern B is performed via the device communication terminal 204. Therefore, different from pattern A shown in FIG. 4A, in communication pattern B, the robot 201 identifies the device communication terminal 204 connected to the corresponding monitoring device 203 without going through the device management server 202b. Then, the robot 201 is directly connected to the identified device communication terminal 204, and the robot 201 transmits information to the device communication terminal 204.

[0084] That is, the information transmitted from the robot 201 to the monitoring device 203 is first transmitted from the robot 201 to the communication terminal 204 for the specified device. Then, the information is transmitted from the communication terminal 204 for the device to the monitoring device 203, and the monitoring device 203 receives the information.

[0085] Figure 4C shows another example (communication pattern C) of the communication configuration between the robot 201 and the monitoring device 203. As shown in Figure 4C, the information from the robot 201 to the monitoring device 203 according to the communication pattern C is transmitted directly. Therefore, different from pattern A shown in Figure 4A and pattern B shown in Figure 4B, the robot 201 is directly connected to the corresponding monitoring device 203 without going through the device management server 202b or the communication terminal 204 for the device. That is, the information transmitted from the robot 201 to the monitoring device 203 is directly transmitted to the corresponding monitoring device 203. Then, the monitoring device 203 receives the information.

[0086] Figure 4D shows another example (communication pattern D) of the communication configuration between the robot 201 and the monitoring device 203. As shown in Figure 4D, the transmission of the information from the robot 201 to the monitoring device 203 according to the communication pattern D is performed via the device management server 202b and the remote monitoring server 202a.

[0087] That is, the information transmitted from the robot 201 to the monitoring device 203 is first transmitted from the robot 201 to the device management server 202b. Then, the information is transmitted from the device management server 202b to the remote monitoring server 202a. Further, the information is transmitted from the remote monitoring server 202a to the monitoring device 203, and the monitoring device 203 receives the information.

[0088] Figure 4E shows another example (communication pattern E) of the communication configuration between the robot 201 and the monitoring device 203. As shown in Figure 4E, the transmission of the information from the robot 201 to the monitoring device 203 according to the communication pattern E is performed via the remote monitoring server 202a.

[0089] That is, the information transmitted from the robot 201 to the monitoring device 203 is first transmitted from the robot 201 to the remote monitoring server 202a. Further, the information is transmitted from the remote monitoring server 202a to the monitoring device 203, and the monitoring device 203 receives the information.

[0090] Although the information (upward information) from the robot 201 to the monitoring device 203 has been described, the information (downward information) from the monitoring device 203 to the robot 201 is also transmitted to the robot 201 along the same path as the upward information. Alternatively, it may be transmitted to the robot 201 along a path different from the upward information. Specifically, for example, the upward information may be transmitted by communication pattern A, and the downward information may be transmitted by communication pattern C.

[0091] Here, for the communication between the robot 201 and the device management server 202b in communication patterns A and D, as described above, a wireless communication method such as a mobile phone line network such as LTE can be used.

[0092] Also, for the communication between the device management server 202b and the device communication terminal 204 in communication pattern A, a wireless communication method such as a mobile phone line network such as LTE can be used. The wireless communication method between the device management server 202b and the device communication terminal 204 is not limited to LTE, and may be wireless communication using other communication methods.

[0093] Also, for the communication between the device communication terminal 204 and the monitoring device 203 in communication patterns A and B, since both are provided in the vicinity, it can be performed by wired communication such as USB, LAN, CAN (Controller Area Network), RS232C·422. It can also be performed by wireless communication using Bluetooth, Wifi, or a Sub-GHz transceiver. In the case of wireless connection, whether the communication can be performed normally depends on the installation environment of the elevator and the structure of the building. Since Sub-GHz has a low frequency band, diffraction of radio waves can be expected, making communication easier, which is preferable.

[0094] In the communication between the monitoring device 203 and the communication terminal 204 for equipment, for example, an area for specifying the equipment (robot 201) is provided in the header file, and the type of equipment and the content of the operation instruction are recorded in advance in the operation table for each equipment (not shown). There may be multiple operation instructions for one piece of equipment. Then, by reading the header file, the type of equipment can be specified, and by referring to the operation table for each equipment, an operation instruction suitable for the equipment can be transmitted to the elevator. When using the IP protocol for communication with the communication terminal 204 for equipment, the equipment may be specified based on the IP address and port.

[0095] The communication terminal 204 for equipment may not be directly connected to the monitoring device 203, but may transmit information to the monitoring device 203 using an external network (not shown). By doing so, it is not necessarily required to install the communication terminal 204 for equipment in the vicinity of the monitoring device 203, and the degree of freedom in installing the communication terminal 204 for equipment can be increased. In particular, by installing the communication terminal 204 for equipment at a location where communication is easy, the communication quality with the robot 201 and the crisis management server 202b can be improved.

[0096] Also, for the communication between the robot 201 and the communication terminal 204 for equipment in communication pattern B, a wireless communication method such as a mobile phone line network like LTE can be used. The wireless communication method between the robot 201 and the communication terminal 204 for equipment is not limited to LTE, and wireless communication using other communication methods may also be possible.

[0097] Also, for the communication between the robot 201 and the monitoring device 203 in communication pattern C, a wireless communication method such as a mobile phone line network like LTE can be used. The wireless communication method between the robot 201 and the monitoring device 203 is not limited to LTE, and wireless communication using other communication methods may also be possible.

[0098] When communicating with the robot 201, the monitoring device 203, for example, provides an area in the header file to identify the device (robot 201), and records in advance the device type and the content of the operation instruction in the operation table for each device (not shown). For one device, there may be multiple operation instructions. Then, by reading the header file, the device type can be identified, and by referring to the operation table for each device, the operation instruction suitable for the device can be sent to the elevator. When using the IP protocol for communication with the device communication terminal 204, the device may be identified based on the IP address and port.

[0099] Also, the communication between the device management server 202b and the remote monitoring server 202a in communication pattern D is connected, for example, by the IP protocol. The remote monitoring server 202a is provided with pre-defined input and output ports of the API (Application Programming Interface) so that it can receive the elevator operation instruction from the device management server 202b. When the remote monitoring server 202a receives the elevator operation instruction at the API input, the type of the device management server 202b of the party received by the API and the content of the operation instruction can be sent to the monitoring device 202.

[0100] Also, for the communication between the remote monitoring server 202a and the monitoring device 203 in communication pattern D, a wireless communication method such as a mobile phone line network such as LTE can be used. The wireless communication method between the remote monitoring server 202a and the monitoring device 203 is not limited to LTE, and may be wireless communication by other communication methods.

[0101] In communication with the remote monitoring server 202a, the monitoring device 203, for example, pre - records the type of the device management server 202b and the content of the operation instruction in an operation table for each device (not shown). For one device, there may be multiple operation instructions. Then, based on the type of the device management server received from the remote monitoring server 202a and the content of the operation instruction, by referring to the operation table for each device, an operation instruction matching the type of the device management server 202b and the content of the operation instruction can be sent to the elevator.

[0102] Also, for the communication between the robot 201 and the remote monitoring server 202a in communication pattern E, a wireless communication method such as a mobile phone line network like LTE can be used. The wireless communication method between the robot 201 and the remote monitoring server 202a is not limited to LTE, and wireless communication using other communication methods may also be possible.

[0103] Also, for the communication between the remote monitoring server 202a and the monitoring device 203 in communication pattern E, a wireless communication method such as a mobile phone line network like LTE can be used. The wireless communication method between the remote monitoring server 202a and the monitoring device 203 is not limited to LTE, and wireless communication using other communication methods may also be possible.

[0104] In communication with the remote monitoring server 202a, the monitoring device 203, for example, provides a region for identifying the device (robot 201) in the header file, and pre - records the type of the device and the content of the operation instruction in an operation table for each device (not shown). For one device, there may be multiple operation instructions. Then, by identifying the type of the device through header file reading and referring to the operation table for each device, an operation instruction matching the device can be sent to the elevator.

[0105] (Processing procedure of robot 201) Next, the procedure of the robot 201 will be described. FIG. 5 is a flowchart showing the processing procedure of the robot. In the flowchart of FIG. 5, the robot 201 determines whether there is an input of a movement instruction to another floor (step S501). Here, the robot 201 waits for the input of the movement instruction (step S501: No), and when there is an input of the movement instruction (step S501: Yes), it transmits information (current floor information) regarding the desired boarding floor, that is, the floor where the own device currently exists (step S502). The transmission destination is the device communication terminal 204 in communication patterns A and B, the monitoring device 203 in communication pattern C, the device management server 202b in communication pattern D, and the remote monitoring server 202a in communication pattern E.

[0106] The current floor information includes the identification information of the own device (own device ID) and the identification information of the elevator (car) to be moved (elevator ID). Further, information indicating that it is a movement to the current floor may be included. Also, information regarding the desired boarding time (desired time = current time, desired time = yymmdd, hhmmss (year, month, day, hour, minute, second), or "7 minutes and 30 seconds after the current time", etc.) may be included.

[0107] Next, the robot 201 receives information (car position information) regarding which floor the car of the elevator to board is on from any one of the device management server 202b (communication patterns A and D), the device communication terminal 204 (communication pattern B), the remote monitoring device 203 (communication pattern C), and the remote monitoring server 202a (communication pattern E) (step S503), and based on the received car position information, determines whether the car has arrived at the current floor (the floor where the own device exists) (step S504).

[0108] Here, waiting for the basket to arrive at the current floor (step S504: No), when it is determined that the basket has arrived at the current floor (step S504: Yes), it moves automatically and performs the operation of boarding the basket (step S505), and at the same time, transmits information about the floor to which it desires to move (desired floor information) to the server 202 (step S506). Thereby, the door of the basket closes, and the basket carrying the robot 201 starts moving.

[0109] The desired floor information includes the identification information of its own device (own device ID) and the identification information of the elevator to be moved (elevator ID). Further, information indicating that it is a movement to the desired floor (call of the basket) may be included.

[0110] Then, the robot 201 receives information about which floor the basket of the elevator it has boarded is on (basket position information) from any one of the device management server 202b, the device communication terminal 204, the remote monitoring device 203, and the remote monitoring server 202a (step S507), and based on the received basket position information, determines whether the basket has arrived at the desired floor (the floor to which the own device desires to move) (step S508).

[0111] Here, waiting for the basket to arrive at the desired floor (step S508: No), when it is determined that the basket has arrived at the desired floor (step S508: Yes), the robot 201 confirms that the door has opened (by a camera or various sensors, etc.), moves automatically, and performs the operation of getting off the basket (step S509), thereby ending a series of processes of the robot 201.

[0112] (Processing procedure of the device management server 202b) Next, the processing procedure of the device management server 202b will be described. FIG. 6A is a flowchart showing the processing procedure of the device management server. In the flowchart of FIG. 6A, the device management server 202b determines whether it has received movement floor information (current floor information · desired floor information) from the robot 201 (step S601).

[0113] Here, waiting to receive the moving floor information (step S601: No), if received (step S601: Yes), then next, it is determined whether the destination is the device communication terminal 204 (step S602). That is, it is determined whether to perform communication according to communication pattern A. If the communication pattern has been determined in advance, this determination process is omitted.

[0114] Here, when the destination is the device communication terminal 204 (communication pattern A) (step S602: Yes), the target device communication terminal 204 is specified (step S603). The target device communication terminal 204 can specify the device communication terminal 204 corresponding to the elevator based on the elevator ID included in the received information.

[0115] Then, the device management server 202b transmits the moving floor information (current floor information or desired floor information) to the specified device communication terminal 204 (step S604) and proceeds to step S606.

[0116] In step S602, when the destination is not the device communication terminal 204 (not communication pattern A) (step S602: No), since the destination is the remote monitoring server 202a (communication pattern D), the moving floor information (current floor information or desired floor information) is transmitted to the remote monitoring server 202a (step S605) and proceeds to step S606.

[0117] After that, it is determined whether the position information of the car is received from the device communication terminal 204 (step S606). Here, waiting to receive the position information of the car (step S606: No), if received (step S606: Yes), the device management server 202b transmits the received position information of the car to the robot 201 (step S607). Thereby, a series of processes of the server 202 are terminated.

[0118] (Processing procedure of the device communication terminal 204) Next, the processing procedure of the communication terminal 204 for the device will be described. FIG. 6B is a flowchart showing the processing procedure of the communication terminal for the device. In the flowchart of FIG. 6B, the communication terminal 204 for the device determines whether it has received movement floor information (step S611). Here, the source of the movement floor information is the device management server 202b (communication pattern A) or the robot 201 (communication pattern B).

[0119] In step S611, the communication terminal 204 for the device waits to receive the movement floor information (step S611: No), and when it has received it (step S611: Yes), it transmits the movement floor information to the monitoring device 203 (step S612).

[0120] After that, the communication terminal 204 for the device determines whether it has received the position information of the cage from the monitoring device 203 (step S613). Here, it waits to receive the position information of the cage (step S613: No), and when it has received it (step S613: Yes), the communication terminal 204 transmits the received position information of the cage (step S614). The destination of the position information of the cage is the device management server 202b (communication pattern A) or the robot 201 (communication pattern B). Thereby, a series of processing of the communication terminal 204 for the device is terminated.

[0121] (Processing procedure of the monitoring device 203) Next, the processing procedure of the monitoring device 203 will be described. FIG. 6C is a flowchart showing the processing procedure of the monitoring device. In the flowchart of FIG. 6C, the monitoring device 203 determines whether it has received movement floor information from the robot 201 (step S621). The movement floor information is the information that the robot 201 transmitted in step S503 of the flowchart of FIG. 5, reached the monitoring device 203 through any one of the communication patterns A to E, and was received by the monitoring device 203.

[0122] In step S621, the monitoring device 203 waits to receive the moving floor information (step S621: No). When the information is received (step S621: Yes), the monitoring device 203 transmits the moving floor information to the car upper control device 205 (step S622).

[0123] After that, the monitoring device 203 acquires the position information of the car (step S623). Specifically, for example, information regarding the car position (information on which position the car is at) can be acquired from the elevator control panel 104.

[0124] Also, depending on the type of elevator, etc., the monitoring device 203 may not be able to acquire the car position information from the elevator control panel 104. In that case, as described above, the monitoring device 203 specifies the car position using UWB wireless communication.

[0125] Then, the monitoring device 203 transmits the acquired car position information to the robot 201 according to any one of communication patterns A to E (step S624). The car position information may be, for example, information regarding the current car position, or information indicating that the car has arrived (or is about to arrive) at the moving floor. The car position information only needs to be such that when the robot 201 receives it, it can recognize that the car has arrived at the moving floor. Thereby, a series of processes of the monitoring device 203 are completed.

[0126] (Processing procedure of the remote monitoring server 202a) Next, the processing procedure of the remote monitoring server 202a will be described. FIG. 6D is a flowchart showing the processing procedure of the remote monitoring server in the elevator car movement control system. In the flowchart of FIG. 6D, the remote monitoring server 202a determines whether it has received the moving floor information (step S631). Here, the transmission source of the moving floor information is the device management server 202b (communication pattern D) or the robot 201 (communication pattern E).

[0127] The moving floor information is either the current floor information transmitted in step S502 or the desired floor information transmitted in step S506, as shown in the flowchart of FIG. 5. In step S501, the server 202 treats both the current floor information and the desired floor information transmitted from the robot 201 as moving floor information without distinction. However, the server 202 may also distinguish whether the transmitted information is the current floor information or the desired floor information and handle them separately. To enable such separate handling, the information transmitted by the robot 201 may include information for identifying whether it is the current floor information or the desired floor information.

[0128] In step S631, the remote monitoring server 202a waits to receive the moving floor information (step S631: No). When it receives the information (step S631: Yes), it identifies the target elevator (step S632). The target elevator can be identified based on the elevator ID included in the received information.

[0129] Then, the remote monitoring server 202a transmits the moving floor information (current floor information or desired floor information) to the monitoring device 203 of the identified elevator (step S633).

[0130] After that, it is determined whether the position information of the car is received from the monitoring device 203 (step S634). Here, it waits to receive the position information of the car (step S634: No). When it receives the information (step S634: Yes), the remote monitoring server 202a transmits the received position information of the car (step S635). The transmission destination of the position information of the car is the device management server 202b (communication pattern D) or the robot 201 (communication pattern E). Thereby, a series of processes of the server 202 are terminated.

[0131] (Processing procedure of the car upper control device 205) Next, the procedure of the control device 205 on the car will be described. FIG. 7 is a flowchart showing the processing procedure of the control device on the car according to Embodiment 1 of the present invention. In the flowchart of FIG. 7, the control device 205 on the car determines whether the communication unit 206 has received the moving floor information from the monitoring device 203 (step S701). The moving floor information is the information that the monitoring device 203 transmits to the control device 205 on the car in step S602 of the flowchart of FIG. 6.

[0132] In step S701, the control device 205 on the car waits to receive the moving floor information (step S701: No). When it receives the information (step S701: Yes), based on the received moving floor information, it identifies the signal line among signal lines 211 to 215 through which the control unit 207 transmits the operation signal (step S702), and transmits the operation signal from the identified signal line (step S703). Thereby, a series of processes of the control device 205 on the car are terminated.

[0133] As described above, the control device (control device 205 on the car) is a control device that controls the operations performed by the user in the elevator car by remote operation instructions. Branch wirings (signal lines 211 to 215) are respectively connected to the existing wirings (signal lines 111 to 115) between each operation button 101 provided in the car and the operation panel (operation panel 102 in the car) that receives the operation signals of the respective operation buttons 101. Based on the information regarding the operation instructions of the operation buttons 101 received wirelessly by the receiving unit (communication unit 206) of the elevator from an external device (monitoring device 203, server 202, robot 201, other communication terminal devices, etc.), an operation signal can be transmitted to the operation panel (operation panel 102 in the car) using the branch wiring (signal lines 211 to 215) corresponding to the operation instructions.

[0134] Therefore, according to this car-top control device 205, without making any changes to the configuration of the elevator (such as the operation button 101, the in-car operation panel 102, the car control board 103, the control panel 104, etc.), the robot 201 can perform a call operation, and the robot 201 can be made to enter the car and move the car to the desired floor.

[0135] Also, in the explanatory diagram of FIG. 2 and the flowcharts shown in FIGS. 5 to 7, the robot 201 is made to transmit the moving floor information. However, not limited to the robot 201, communication devices such as a personal computer or a smartphone with a communication function may be used instead of the robot 201. Thereby, even when it is not possible to directly operate the call button at the elevator landing or the operation button inside the car, it is possible to easily and surely give an instruction to move the car.

[0136] Specifically, when transmitting the moving floor information using a computer or a smartphone, the car-top control device 205 receives the moving floor information via, for example, the remote monitoring server 202a, the device management server 202b, the device communication terminal 204, etc., or directly, and the control unit 207 outputs an operation signal to the predetermined signal lines 211 to 215, and the car can be moved to the desired floor. Thereby, it is possible to remotely control and move the elevator to the destination floor, such as a floor with many users, according to time.

[0137] Also, by transmitting the moving floor information using a server or the like, even for various types of elevators with different manufacturers, by installing the car-top control device 205 or the like, it is also possible to more easily perform group management regarding the movement of the elevator car.

[0138] As described above, the control method of Embodiment 1 according to the present invention is a control method for controlling operations performed by a user inside an elevator car by remote operation instructions. A communication device such as an autonomous mobile robot 201 that uses the elevator executes a process of transmitting instruction information regarding operations performed by the user inside the elevator car. A monitoring device 203 provided near the elevator and monitoring the state of the elevator receives the instruction information, and based on the received instruction information, executes a process of transmitting an operation signal to an in-car operation panel 102 that receives operation signals of each operation button 101 provided in the car or to an elevator control panel 104 (Communication Patterns A to E).

[0139] Further, in this control method, the robot 201 executes a process of transmitting instruction information to a device communication terminal 204 for a device connected to the robot 201 by wireless communication. The device communication terminal 204 receives the instruction information transmitted from the robot 201 and executes a process of transmitting the received instruction information to the monitoring device 203 (Communication Pattern B).

[0140] Further, in this control method, the robot 201 executes a process of transmitting instruction information to a device management server 202b that manages the robot 200. The monitoring device 203 executes a process of receiving the instruction information via the device management server 202b (Communication Pattern A).

[0141] Further, in this control method, the robot 201 executes a process of transmitting instruction information to a remote monitoring server 202a that is provided at a remote location of the elevator, is connected to the monitoring device 203, and manages the elevator. The monitoring device 203 executes a process of receiving the instruction information via the remote monitoring server 202a (Communication Pattern E).

[0142] Further, in this control method, the robot 201 executes a process of transmitting instruction information to the device management server 202b that manages the robot 201, and the monitoring device 203 executes a process of receiving the instruction information via the device management server 202b and the remote monitoring server 202a that is provided at a remote location of the elevator, is connected to the monitoring device 203, and manages the elevator (communication pattern D).

[0143] Further, the monitoring device according to Embodiment 1 of the present invention is a monitoring device 203 provided near the elevator and monitoring the state of the elevator. The monitoring device 203 receives instruction information regarding an operation performed by a user in the car of the elevator from a communication device such as an autonomous mobile robot 201 that uses the elevator, and based on the received instruction information, transmits an operation signal to the in-car operation panel 102 that receives an operation signal of each operation button 101 provided in the car, or to the control panel 104 of the elevator.

[0144] Further, the control device (in-car control device 205) according to Embodiment 1 of the present invention is a control device 205 that controls an operation performed by a user in the car of the elevator by a remote operation instruction. Branch wirings (signal lines 211 to 215) are respectively connected to existing wirings (signal lines 111 to 115) between each operation button 101 provided in the car and the operation panel (in-car operation panel 102) that receives an operation signal of each operation button 101. Based on information regarding an operation instruction of the operation button 101 received wirelessly by the receiving unit (communication unit 206) of the elevator from an external device (monitoring device 203), an operation signal is transmitted to the operation panel (in-car operation panel 102) using the branch wiring (signal lines 211 to 215) corresponding to the operation instruction.

[0145] According to the control device (in-car control device 205) of Embodiment 1 of the present invention, the robot 201 can perform a call operation without making any changes to the configuration of the elevator (operation buttons 101, in-car operation panel 102, car control board 103, control panel 104, etc.), and the robot 201 can enter the car and move the car to a desired floor.

[0146] This enables the realization of an elevator that can more easily and inexpensively utilize a self-propelled robot with minimal improvements to an existing elevator system.

[0147] (Another form of Embodiment 1 (Part 1)) FIG. 8 is an explanatory diagram showing another example of a partial configuration of a car movement control system of an elevator including a car upper control device according to another embodiment of Embodiment 1. Note that the same components as those shown in FIGS. 1 and 2 are denoted by the same reference numerals and their descriptions are omitted. Also in FIG. 8, the same components (reference numerals 201 to 207) as those in FIG. 2 are provided, but their illustration is omitted.

[0148] In FIG. 8, reference numerals 801 to 805 are connectors, reference numerals 811 to 815 are signal lines between the control unit 207 and the connectors 801 to 805, and reference numerals 821 to 825 are signal lines between the connectors 801 to 805 and the in-car operation panel 102.

[0149] For each of the operation buttons “1” to “5”, signal lines (existing wirings) 111 to 115 are connected by wire between the connectors 801 to 805, and signal lines 821 to 825 corresponding to the respective signal lines 111 to 115 are connected between the connectors 801 to 805 and the in-car operation panel 102. Therefore, when each button is operated (for example, touched or pressed), the operation signal (car call signal) of the button is input to the in-car operation panel 102 in parallel through the respective signal lines 111 to 115 corresponding to each button → the connectors 801 to 805 → the respective signal lines 821 to 825.

[0150] Also, signal lines 811 to 815 are connected by wire between the control unit 207 of the car upper control device 205 (not shown in FIG. 8) and the respective connectors 801 to 805. Therefore, when an operation signal is output from the control unit 207 to the respective signal lines 811 to 815, the operation signal is input to the in-car operation panel 102 in parallel through the respective signal lines 811 to 815 → the connectors 801 to 805 → the respective signal lines 821 to 825.

[0151] Thus, in Embodiment 1, instead of individually connecting signal lines 211 to 215 with crimp terminals or the like in the middle of signal lines 111 to 115 between the operation button 101 and the in-car operation panel 102, connectors 801 to 805 are used, and signal lines 811 to 815 similar to signal lines 211 to 215 are used to send an operation signal from the control unit 207 to the in-car operation panel 102. Note that for connectors 801 to 805, for example, a branch harness or the like may be used.

[0152] By doing so, for example, when an operation signal is sent (output) from the control unit 207 to signal line 811, the operation signal is input from connector 801 to the in-car operation panel 102 via signal line 821. When the in-car operation panel 102 receives the signal, it determines that there has been an operation of the first-floor car call, and sends a signal to that effect to the car control board 103 via signal line 116. The car control board 103 sends a signal related to the first-floor car call operation to the control panel 104 via the tail cord 117. Thereby, the control panel 104 can perform an operation to move the car to the first floor.

[0153] Therefore, just by the control unit 207 of the car upper control device 205 sending an operation signal to signal line 811, the car can be moved to the first floor in the same manner as when a passenger in the car operates button "1" of the operation button 101 without the passenger in the car operating button "1" of the operation button 101. Similarly, when the control unit 207 sends operation signals to signal lines 812 to 815, the car can be moved to each floor (the second floor to the fifth floor).

[0154] Regarding other configurations, since they are the same as those in the above-described embodiment, detailed description thereof is omitted.

[0155] As described above, the control device 205 of this embodiment is a control device that controls the operations performed by the user inside the elevator car by means of remote operation instructions. It has connectors 801 to 805 provided between each operation button 101 provided inside the car and the operation panel that receives the operation signals of each of these operation buttons 101. Based on the information regarding the operation instructions of the operation buttons 101 received wirelessly by the receiving unit (communication unit 206) of the elevator from the monitoring device 203, it transmits the operation signals of the operation buttons corresponding to the operation instructions to the in-car operation panel 102 using the connectors 801 to 805.

[0156] According to the control device 205 of this embodiment, similar to the control device of the above-described embodiment, without making any changes to the configuration of the elevator (such as the operation buttons 101, the in-car operation panel 102, the car control board 103, the control panel 104, etc.), the robot 201 can perform call operations, and the robot 201 can be made to enter the car and move the car to the desired floor. As a result, by making minimal improvements to the existing elevator system, an elevator that enables the use of a self-propelled robot more simply and inexpensively can be realized. Furthermore, by using the connectors 801 to 805, it can be easily installed simply by plugging and unplugging.

[0157] (Another form of Embodiment 1 (Part 2)) Although not shown in the drawings, a pressing mechanism for individually pressing each of the operation buttons 101 provided near each operation button 101 provided inside the car may be provided in the control unit 207.

[0158] Specifically, for example, this pressing mechanism includes an electromagnetic solenoid arm, and in response to an operation signal from the control unit 207, drives the electromagnetic solenoid arm, and presses each of the operation buttons 101 with the tip of the arm to generate a car call signal.

[0159] A plurality of electromagnetic solenoid arms (the same number as the buttons) may be provided for each button of the operation button 101. Further, a moving mechanism for moving one or a plurality of electromagnetic solenoid arms may be provided. After moving the electromagnetic solenoid arm to the position of a desired button, the button may be pressed by the tip of the arm.

[0160] As described above, the control device 205 is a control device that controls the operations performed by the user in the elevator car by remote operation instructions. The control device 205 has a pressing mechanism for individually pressing each operation button 101 provided near each operation button 101 provided in the car. Based on the information regarding the operation instruction of the operation button 101 received by the receiving unit (communication unit 206) of the elevator from the monitoring device 203 by wireless communication, the pressing mechanism presses the operation button 101 corresponding to the operation instruction.

[0161] Thereby, by simply installing the pressing mechanism near the operation button 101, it is not necessary to perform branch wiring as in the first embodiment. Also, it is not necessary to use a connector as in the second embodiment. Therefore, such construction is unnecessary. Further, since each button can be physically pressed or contacted by the tip of the electromagnetic solenoid arm, a car call signal can be generated more reliably.

[0162] (Another form of the first embodiment (version 3)) Although not shown in the drawings, a capacitance switch for changing the individual capacitance of each operation button 101 provided near each operation button 101 provided in the car may be provided in the control unit 207.

[0163] Specifically, this capacitance switch may be, for example, a circuit attached to an electrostatic touch button adjusted so that the electrostatic switch reacts when each operation button 101 is an electrostatic touch switch. By transmitting a signal to the circuit, the capacitance can be changed and each operation button 101 can be operated.

[0164] As described above, the control device 205 is a control device that controls the operations performed by the user inside the elevator car by means of remote operation instructions. It has capacitance switches attached to each operation button 101 provided inside the car, and based on the information regarding the operation instructions of the operation button 101 received wirelessly by the receiver (communication unit 206) of the elevator from an external device (such as a monitoring device 203, a server 202, a robot 201, or other communication terminal devices), it changes the capacitance of the capacitance switch attached to the operation button 101 corresponding to the operation instruction.

[0165] As a result, there is no need to perform branch wiring as in the above-described embodiment. Also, there is no need to use a connector as in the above-described embodiment (part 2). Further, since the capacitance switch can perform the same operation as pressing or contacting each button, when each operation button 101 is an electrostatic touch switch, a car call signal can be generated more reliably.

[0166] (Embodiment 2) FIG. 9 is an explanatory diagram showing an example of a partial configuration of the elevator car movement control system according to Embodiment 2 of the present invention. Note that the same components as those shown in FIGS. 1 and 2 are denoted by the same reference numerals and their description is omitted. Also, in FIG. 9, the same components (reference numerals 201 to 207) as those in FIG. 2 are provided, but their illustration is omitted.

[0167] As shown in FIG. 9, the elevator car movement control system in Embodiment 2 is composed of two cars (Car A and Car B), and they can move (ascend and descend) in conjunction with each other.

[0168] The cage A is equipped with a control panel 104a and an on-cage control device 205a, and the cage B is equipped with a control panel 104b and an on-cage control device 205b. The control panel 104a of the cage A and the control panel 104b of the cage B are connected to a group management device 902, and the movement of the cage A and the cage B can be interlocked by the group management device 902 controlling their respective control panels.

[0169] In FIG. 9, the difference from the first embodiment shown in FIG. 2 is that instead of the monitoring device 203 in FIG. 2, a parent monitoring device 901 is provided, and a child monitoring device 203a for the cage A and a child monitoring device 203b for the cage B are provided in this parent monitoring device 901. Since the configurations of the parent monitoring device 901, the child monitoring devices 203a and 203b are the same as those of the monitoring device 203 in the first embodiment, detailed description thereof is omitted.

[0170] When the parent monitoring device 901 receives instruction information from the robot 201 by any one of the communication patterns A to E, based on the received instruction information, it controls the two child monitoring devices 203a and 203b and transmits an operation signal to the on-cage control devices 205a and 205b. Alternatively, the parent monitoring device 901 controls the two child monitoring devices 203a and 203b and transmits an operation signal to the elevator control panels 104a and 104b.

[0171] In this way, by using the parent monitoring device 901 having a group management function and the child monitoring devices 203a and 203b as the monitoring devices, the two cages can be group-managed. Specifically, when there is an instruction signal from the robot 201, the parent monitoring device 901 acquires information on the status of the elevator from the child monitoring devices 203a and 203b, determines to which cage to transmit the instruction signal, and can transmit (output) an operation signal to the child monitoring device of the determined cage. Therefore, the two cages can be efficiently operated and the movement of the robot 201 can be made more rapid.

[0172] (Embodiment 3) FIG. 10 is an explanatory diagram showing an example of a partial configuration of an elevator car movement control system according to Embodiment 3 of the present invention. Note that the same components as those shown in FIGS. 1, 2, and 9 are denoted by the same reference numerals and their description is omitted. Also, in FIG. 10, components similar to those in FIG. 2 (reference numerals 201 to 207) are provided, but their illustration is omitted.

[0173] As shown in FIG. 10, the elevator car movement control system in Embodiment 3 is composed of two cars (Car A and Car B), which can move (ascend and descend) in conjunction with each other. And it is different from the movement control system in Embodiment 2 shown in FIG. 9 in that the child monitoring devices 203a and 203b are not present. Since the configuration of the monitoring device 1001 is the same as that of the monitoring device 203 in Embodiment 1, its detailed description is omitted.

[0174] In FIG. 10, when the monitoring device 1001 receives the instruction information from the robot 201 by any one of the communication patterns A to E, based on the received instruction information, it identifies either the car upper control device 205a or the car upper control device 205b, and transmits an operation signal to the car upper control device on the identified side. Alternatively, the monitoring device 1001 identifies either the elevator control panel 104a or the control panel 104b, and transmits an operation signal to the identified control panel.

[0175] In this way, by having the group management function for the two cars, the monitoring device 1001 can group-manage the two cars. Therefore, similar to Embodiment 2, the two cars can be efficiently operated, and the movement of the robot 201 can be made more rapid.

[0176] In Embodiments 2 and 3, two cars (Car A and Car B) have been described. However, even if there are three or more cars, the respective embodiments can be realized with a similar configuration (a parent monitoring device and the same number of child monitoring devices as the number of cars).

Industrial Applicability

[0177] As described above, the control method and monitoring device according to the present invention are useful for a control method that controls operations performed by users in an elevator car by remote control instructions and a monitoring device provided near the elevator to monitor the state of the elevator, and are suitable for a control method and monitoring device that perform movement control of the car in an elevator used by a communication device such as a self-propelled robot.

Explanation of Signs

[0178] 101 Operation button 102 In-car operation panel 103 Car control board 104, 104a, 104b Control panel 111 Signal line (call signal line for operation button "1" (1st floor)) 112 Signal line (call signal line for operation button "2" (2nd floor)) 113 Signal line (call signal line for operation button "3" (3rd floor)) 114 Signal line (call signal line for operation button "4" (4th floor)) 115 Signal line (call signal line for operation button "5" (5th floor)) 116 Signal line (signal line between in-car operation panel and car control board) 117 Signal line (tail cord between car control board and control panel) 201 Robot 202a Remote monitoring server 202b Equipment management server 203, 203a, 203b, 901, 1001 Monitoring device (remote monitoring device) 204 Equipment communication terminal 205, 205a, 205b Car upper control device 206 Communication unit 207 Control unit 211 Signal line (branch wiring of signal line 111) 212 Signal line (branch wiring of signal line 112) 213 Signal line (branch wiring of signal line 113) 214 Signal line (branch wiring of signal line 114) 215 Signal Line (Branch Wiring of Signal Line 115) 301 Robot Body (Housing) 302 Load Placement Space 303 Wheels 304 Display Screen (Touch Panel) 305 Display Control Unit 306 Information Input Unit 307 Communication Unit 308 Imaging Unit 309 Travel Control Unit 310 Wheel Drive Unit 311 Rechargeable Battery 801 - 805 Connectors 811 - 815 Signal Lines (Signal Lines between the Control Unit and the Connector) 821 - 825 Signal Lines (Signal Lines between the Connector and the Operation Panel in the Basket)

Claims

1. A control method for controlling an operation performed by a user inside an elevator car by means of a remote operation instruction, wherein an autonomous driving robot using the elevator executes a process of transmitting instruction information regarding an operation performed by a user inside the elevator car, a monitoring device provided near the elevator for monitoring the state of the elevator receives the instruction information, and based on the received instruction information, transmits an operation signal to an operation panel that receives an operation signal of each operation button provided inside the car, or to a control panel of the elevator, acquires position information of the car, and executes a process of transmitting the acquired position information of the car to the robot. The control method is characterized by this.

2. The monitoring device executes a process of transmitting the position information to a communication terminal device connected to the robot by wireless communication, The communication terminal device receives the position information transmitted from the monitoring device and executes a process of transmitting the received position information to the robot. The control method according to claim 1 is characterized by this.

3. The communication terminal device executes a process of transmitting the position information to a management server that manages the robot, The robot executes a process of receiving the position information via the management server. The control method according to claim 2 is characterized by this.

4. The monitoring device is provided at a remote location of the elevator, and executes a process of transmitting the position information to a remote monitoring server that is connected to the monitoring device and manages the elevator, The robot executes a process of receiving the position information via the remote monitoring server. The control method according to claim 1 is characterized by this.

5. The remote monitoring server executes a process of transmitting the position information to a management server that manages the robot, The robot executes a process of receiving the position information via the management server. The control method according to claim 4 is characterized by this.

6. A control method for controlling an operation performed by a user inside an elevator car by means of a remote operation instruction, wherein a communication device executes a process of transmitting instruction information regarding an operation performed by a user inside the elevator car A monitoring device provided near the elevator for monitoring the state of the elevator receives the instruction information, and based on the received instruction information, transmits an operation signal to an operation panel that receives operation signals of each operation button provided in the car, or to a control panel of the elevator, acquires position information of the car, and executes a process of transmitting the acquired position information of the car to the communication device. **Claim 7** A monitoring device provided near the elevator for monitoring the state of the elevator, receives instruction information regarding an operation performed by a user in the car of the elevator from an autonomous driving robot using the elevator, and based on the received instruction information, transmits an operation signal to an operation panel that receives operation signals of each operation button provided in the car, or to a control panel of the elevator, acquires position information of the car, and transmits the acquired position information of the car to the robot. **Claim 8** A monitoring device provided near the elevator for monitoring the state of the elevator, receives instruction information regarding an operation performed by a user in the car of the elevator from a communication device, and based on the received instruction information, transmits an operation signal to an operation panel that receives operation signals of each operation button provided in the car, or to a control panel of the elevator, acquires position information of the car, and transmits the acquired position information of the car to the communication device.

Images