Elevator system, elevator control method, and program

Abstract

To provide an elevator system capable of quickly eliminating a gap generated when each robot gets on / off and capable of preventing the subsequent robot from falling over the gap.SOLUTION: An elevator system according to one embodiment comprises an image device to take an image of a floor surface of an elevator car and a landing floor surface, gap detection means, and position adjusting means. The gap detection means analyzes the image obtained from the image device when multiple robots use the elevator, and detects the gap between the floor surface of the elevator car and the landing floor surface generated when any robot among multiple robots gets on / off the car. The position adjusting means adjusts the position relative to the landing floor of the elevator car based on the detected gap detected by the gap detection means.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to an elevator system that interacts with an autonomous robot.

Background Art

[0002] In recent years, autonomous mobile robots (hereinafter referred to as robots) have been increasingly used for security and luggage transportation in buildings. By interacting with an elevator system, such robots can move to each floor in the building by using the elevator car (boarding or alighting from the elevator car).

[0003] However, since this type of robot is heavier than a user, a step is likely to occur between the floor surface of the landing and the floor surface of the elevator car when boarding or alighting from the elevator car. If a step exists, there is a possibility that a subsequent robot may fall over due to the step.

[0004] As a method for solving such a problem, a method is considered in which a sensor for detecting a step is provided in the robot, and when the step is detected by this sensor, a position correction is instructed from the robot to the elevator system (elevator control device). In addition, a method is known in which a step is detected by remote diagnosis, and the position of the elevator car is corrected by remote operation from the outside to eliminate the step.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

[0006] However, for the former method, it is necessary to install sensors on the robot, and it cannot be applied to robots without sensors. Also, on the elevator system side, since position correction is performed upon receiving instructions from the robot, it takes time to eliminate the step, and during that time, it is necessary to stop the subsequent robots. On the other hand, for the latter method, since position correction is performed when a step is detected by remote diagnosis, the steps generated when each robot gets on and off cannot be eliminated in real time.

Problems to be Solved by the Invention

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

Means for Solving the Problems

[0008] An elevator system according to an embodiment includes an imaging device that images the floor surface of the elevator car and the floor surface of the landing, a step detection means, and a position adjustment means. The step detection means analyzes the image obtained from the imaging device when a plurality of robots use the elevator, and detects the step between the floor surface of the elevator car and the floor surface of the landing that occurs when any one of the plurality of robots gets on and off the elevator car. The position adjustment means adjusts the position of the elevator car with respect to the floor surface of the landing based on the step detected by the step detection means.

Brief Description of the Drawings

[0009]

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MODE FOR CARRYING OUT THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the drawings. Note that the disclosure is merely an example, and the invention is not limited by the contents described in the following embodiments. Modifications that can be easily conceived by those skilled in the art are naturally included in the scope of the disclosure. For the sake of clarity, in the drawings, the sizes, shapes, etc. of each part may be changed from the actual embodiment and schematically represented. In a plurality of drawings, the same reference numerals may be assigned to corresponding elements, and detailed descriptions may be omitted.

[0011] FIG. 1 is a block diagram showing the configuration of an elevator system according to an embodiment, and shows a configuration in which an elevator control device and a control device of an autonomous robot are communicably connected.

[0012] The car 11 moves up and down in the hoistway under the control of the elevator control device 20 by driving the hoisting machine 19. A camera 12 (imaging device) is installed in the car 11. The camera 12 is installed, for example, on the ceiling surface near the car door 11a in the car 11, and continuously images an image including the car floor surface 15 of the car 11 and the landing floor surface 16. The camera 12 is connected to the elevator control device 20 via a cable (not shown). Note that the installation location of the camera 12 is not limited to the ceiling surface in the car 11, and it may be installed anywhere as long as it can image an image including the car floor surface 15 and the landing floor surface 16.

[0013] The robots 13a and 13b are, for example, autonomous mobile robots that perform tasks such as delivering goods, providing security, and cleaning, and can ride in the car 11 and move to each floor in the building. Hereinafter, when the robots 13a and 13b are not particularly distinguished, they will be described as the robot 13. The robot 13 acts according to an instruction from the robot control device 14. The robot 13 and the robot control device 14 are connected to be able to communicate with each other by a predetermined wireless communication method.

[0014] The robot control device 14 is connected to the elevator control device 20 by wireless communication and controls the operation of the robot 13. When the robot 13 gets on and off the car 11, the robot control device 14 transmits information on the destination call including information on the departure floor (boarding floor) and the destination floor (alighting floor) to the elevator control device 20 together with the type information of the robot 13.

[0015] At each floor landing, a landing door 17 and a landing call button 18 are installed. The landing door 17 is installed at the entrance and exit of the car 11 so as to be openable and closable. The landing door 17 engages with the car door 11a and opens and closes. Note that the power source (door motor) is on the car 11 side, and the landing door 17 only opens and closes following the car door 11a.

[0016] The landing call button 18 is a button for a user to register a landing call. Note that the "landing call" refers to a call signal registered by operating the landing call button 18 installed at each floor landing, and includes information on the registered floor and the destination direction. In contrast, the "car call" refers to a call signal registered by operating a destination call button (not shown) provided inside the car 11, and includes information on the destination floor.

[0017] The hoist 19 is equipped with a motor, and by driving the motor to wind up the rope connected to the car 11, the car 11 is moved up and down in the hoistway.

[0018] The elevator control device 20 is composed of a computer equipped with a CPU, ROM, RAM, etc., and controls the entire elevator. In this embodiment, the elevator control device 20 includes a call storage unit 21, an operation control unit 22, a step detection unit 23, a position adjustment unit 24, and a communication unit 25.

[0019] The call storage unit 21 stores the landing calls registered by operating the landing call buttons 18 installed at each floor landing and the car calls registered by operating the car call buttons (not shown) installed inside the car 11. Further, in this embodiment, the call storage unit 21 stores the destination calls of the robot 13 registered by the robot control device 14 together with the type information of the robot 13.

[0020] The operation control unit 22 performs operation control such as moving the car 11 to each floor based on the landing calls, car calls, and destination calls stored in the call storage unit 21. Specifically, the operation control unit 22 controls the hoist 19 to move the car 11 up and down in the hoistway and move it to each floor. Usually, when the car 11 lands on an arbitrary floor, the position is adjusted so that the car floor 15 and the landing floor 16 are flush. However, when the robot 13, which is heavier than the user, gets on and off, a step may occur between the car floor 15 and the landing floor 16.

[0021] The step detection unit 23 detects a step generated between the car floor 15 and the landing floor 16. Specifically, the step detection unit 23 analyzes and processes the image obtained from the camera 12 to determine whether a step exists between the car floor 15 and the landing floor 16 of the elevator car 11.

[0022] When the step detection unit 23 detects a step, the position adjustment unit 24 controls the hoisting machine 19 to adjust the position of the elevator car 11 so that the car floor 15 and the landing floor 16 are flush. This position adjustment is also referred to as floor alignment. Further, while performing the floor alignment of the elevator car 11, the position adjustment unit 24 transmits a notification indicating that the elevator car 11 is in the process of floor alignment to the communication unit 25.

[0023] The communication unit 25 controls the communication of data with the robot 13 via the robot control device 14. When the communication unit 25 receives a notification from the position adjustment unit 24 that the elevator car 11 is in the process of floor alignment, it notifies the robot control device 14 to prohibit the movement of the robot 13b scheduled to board or alight the elevator car 11 following the robot 13a until the floor alignment of the elevator car 11 is completed. Note that the communication unit 25 may directly communicate with the robot 13 without going through the robot control device 14 and notify the robot 13 to prohibit the movement.

[0024] Figure 2 is a block diagram showing the functional configuration of the robot 13. The robot 13 is equipped with a control unit 31, a sensor 32, a communication device 33, an operation unit 34, a display unit 35, a storage unit 36, a drive unit 37, and the like.

[0025] The control unit 31 consists of a CPU and, when a predetermined program is started, performs control for autonomous movement within a predetermined area including each floor of the building in conjunction with the elevator system. The sensor 32 is, for example, a laser range finder, an ultrasonic distance sensor, a dual camera, a LIDAR (Laser Imaging Detection and Ranging), or the like. The robot 13 moves while avoiding obstacles with this sensor 32, detects the empty space inside the elevator car 11, and boards it.

[0026] The communication device 33 communicates wirelessly with the robot control device 14. The operation unit 34 is a part that performs input operations of various data, such as inputting a destination. The display unit 35 displays various data. The storage unit 36 stores, in advance, a program and map information including the movement route of the robot 13. The drive unit 37 includes a motor or the like for driving the wheels installed at the bottom of the robot 13.

[0027] Next, the operation of this system will be described. FIG. 3 is a flowchart showing the operation of this system. The processing shown in this flowchart is mainly executed by the elevator control device 20 which is a computer.

[0028] Now, assume that destination calls from a plurality of robots 13 with the same floor as the departure floor are registered in the elevator control device 20. The operation control unit 22 of the elevator control device 20 makes the car 11 respond to the departure floor of the destination call and opens the car door 11a and the landing door 17 (Yes in step S11). The communication unit 25 transmits a boarding permission notice to the leading robot 13 closest to the car 11 among the plurality of robots 13 via the robot control device 14 (step S12).

[0029] When the leading robot 13 that has received the boarding permission notice boards the car 11, the step detection unit 23 acquires and analyzes an image from the camera 12 installed in the car 11 (step S13). The step detection unit 23 determines whether a step exists between the car floor surface 15 of the car 11 and the landing floor surface 16 based on the analysis result (step S14). Specifically, the step detection unit 23 determines whether a step (height difference in the height direction) of a certain value or more exists between the car floor surface 15 and the landing floor surface 16 from the positional relationship of the structures (such as the landing door 17, the left and right pillars of the three-sided frame, the car door 11a, and the front pillar inside the car) around the car floor surface 15 and the landing floor surface 16 on the image of the camera 12.

[0030] Note that the "constant value" may be determined according to the characteristics of the robot 13 that uses the car 11. The characteristics of the robot 13 include elements such as the overall size of the robot 13, the size of the wheels, and the weight.

[0031] When a step is detected (Yes in step S14), the position adjustment unit 24 transmits a notification to the robot control device 14 to temporarily prohibit subsequent robots 13 (excluding the leading robot 13 that has boarded) from boarding the car 11 (step S15). This is because if a subsequent robot 13 boards the car 11 while a step exists, there is a possibility of tripping and falling over that step. Upon receiving this notification, the robot control device 14 waits for the subsequent robots 13 until the floor alignment of the car 11 is completed.

[0032] Based on the step detected by the step detection unit 23, the position adjustment unit 24 drives the hoist 19 to adjust the height position of the car 11 and perform floor alignment so that the car floor 15 and the landing floor 16 are flush (step S16).

[0033] When the floor alignment is completed, the position adjustment unit 24 transmits a boarding permission notification to the subsequent robots 13 via the communication unit 25 and the robot control device 14 (step S17). Upon receiving this boarding permission notification, the subsequent robots 13 resume movement and board the car 11. At this time, since the step has been eliminated, the subsequent robots 13 will not fall over.

[0034] The position adjustment unit 24 refers to the destination calls registered in the call storage unit 21 and determines whether all the robots 13 for which the destination call designating this floor as the departure floor are registered have boarded (step S18). Also, even when no step is detected in step S14 (No in step S14), the process of step S17 is executed.

[0035] When it is determined that all the robots 13 have boarded (Yes in step S18), the process shown in FIG. 3 ends. On the other hand, when not all the robots 13 have yet boarded the car 11 (No in step S18), that is, when there are subsequent robots 13 waiting at the boarding area, the process of step S13 is executed again.

[0036] In the flowchart of FIG. 3, the process when a plurality of robots 13 with the same departure floor board the car 11 has been described. However, the same applies when a plurality of robots 13 with the same destination floor get off the car 11. That is, when getting off, when the leading robot 13 gets off the car 11, the step difference generated is detected using the image of the camera 12, and after performing floor alignment to eliminate the step difference, the subsequent robots 13 are made to get off the car. This process is repeated until all the robots 13 have got off.

[0037] FIG. 4 shows a specific example of the case where a plurality of robots board a car. The case where two robots 13a and 13b are waiting at the boarding area on the same floor and board the car 11 in order when the car 11 arrives will be described by way of assumption.

[0038] In response to the destination calls of the robots 13a and 13b, when the car 11 arrives at the boarding area on the departure floor of the robots 13a and 13b and the car door 11a and the boarding area door 17 open, a boarding permission notice is sent to the leading robot 13a. When the robot 13a boards the car 11 according to this boarding permission notice, an image in which the car floor 15 is lower than the boarding area floor 16 is obtained by the camera 12.

[0039] By analyzing the image of this camera 12, the step difference between the car floor 15 of the car 11 and the boarding area floor 16 is detected. When the step difference is detected, boarding of the subsequent robot 13b to the car 11 is temporarily prohibited. Furthermore, floor alignment is performed to eliminate the current step difference. When the floor alignment is completed and the step difference is eliminated, a boarding permission notice is sent to the subsequent robot 13b. The robot 13b boards the car 11 upon receiving this boarding permission notice.

[0040] Thus, when a step generated by the robot 13a boarding the car 11 is detected, floor leveling is performed to eliminate the step, so that when the subsequent robot 13b boards the car 11, it can be prevented from falling due to the step.

[0041] Fig. 5 shows a specific example of a plurality of robots getting off the car. Assume that two robots 13a and 13b are in the car 11 and will get off in order at the landing on the same floor, and an explanation will be given.

[0042] Based on the destination calls of the robots 13a and 13b, when the car 11 arrives at the landing on the floor where the robots 13a and 13b are going, and the car door 11a and the landing door 17 open, a disembarkation permission notice is sent to the leading robot 13a. When the robot 13a disembarks from the car 11 according to this disembarkation permission notice, an image in which the car floor 15 is higher than the landing floor 16 is obtained by the camera 12.

[0043] By analyzing the image of this camera 12, the step between the car floor 15 of the car 11 and the landing floor 16 is detected. When the step is detected, the subsequent robot 13b is temporarily prohibited from disembarking from the car 11. Furthermore, floor leveling is performed to eliminate the current step. When the floor leveling is completed and the step is eliminated, a disembarkation permission notice is sent to the subsequent robot 13b. The robot 13b disembarks from the car 11 upon receiving this disembarkation permission notice.

[0044] Thus, when the robot 13a disembarks, the step is eliminated by floor leveling in the same manner as when boarding, so that when the subsequent robot 13b disembarks from the car 11, it can be prevented from falling due to the step.

[0045] According to the present embodiment as described above, when a plurality of robots 13 get on and off the car 11, the steps caused by the weights of these robots 13 are detected each time using the camera 12, and the steps are eliminated by position adjustment. Therefore, when the subsequent robots 13 get on and off the car 11, it is possible to prevent them from falling due to the steps.

[0046] In addition, since the steps are detected using the camera 12, the robots 13 do not require sensors for step detection, and the alignment can be performed in real time based on the judgment on the elevator side without receiving instructions from the robots 13, and the steps can be eliminated promptly.

[0047] (Variant example) (1) Floor alignment using a learning table If there is a learning table that associates and stores the data of the position adjustment of the car 11 with the type of the robot 13 when the robot 13 gets on and off the car 11, then the next time the robot 13 gets on and off the car 11, floor alignment can be performed based on the data stored in the learning table.

[0048] FIG. 6 is an example of a learning table. The position adjustment unit 24 has a learning table T1. When performing floor alignment to eliminate steps when the robot 13 gets on and off, the position adjustment unit 24 associates and stores in the learning table T1 the type of the robot 13, the position adjustment data (the length in the height direction when floor alignment is performed to eliminate steps), and the date and time of the implementation of the floor alignment.

[0049] In the example of FIG. 6, as the first learning data, robot type: Robot A, position adjustment data (step size): 3 cm, date and time: 12 / 1 - 12:45 are stored in the learning table T1. This indicates that when Robot A got on and off, a 3 - cm step occurred, and floor alignment (position adjustment) was performed at 12:45 on December 1st. The same applies to other learning data.

[0050] In the example of FIG. 6, the configuration is such that the position adjustment data when the robot 13 gets on and off the elevator is stored in the learning table T1. However, it is sufficient to separately store the position adjustment data when getting on and the position adjustment data when getting off in the learning table T1.

[0051] FIG. 7 is a flowchart showing the process when leveling the floor of the car using the learning table. Now, assume that destination calls with the same floor as the starting floor are registered in the elevator control device 20 from a plurality of robots 13. The operation control unit 22 of the elevator control device 20 responds with the car 11 to the starting floor of the destination call, and opens the car door 11a and the landing door 17 (Yes in step S21). The communication unit 25 transmits a boarding permission notice to the car 11 to all the robots via the robot control device 14 (step S22).

[0052] Here, when the leading robot 13 gets on the car 11, the position adjustment unit 24 reads out the position adjustment data corresponding to the type of the robot 13 from the learning table T1 (step S23). For example, when the type of the leading robot 13 is robot B, the position adjustment data (2 cm, 2 cm) when leveling the floor during boarding and alighting of robot B is read out from the learning table T1. When there are a plurality of pieces of position adjustment data regarding robot B, the average value of these data may be used, or the latest value may be used.

[0053] The position adjustment unit 24 levels the floor of the car 11 based on the position adjustment data read out from the learning table T1 (step S24). That is, the position adjustment unit 24 predicts the position adjustment data read out from the learning table T1 as the step generated when the robot gets on and off, and levels the floor so as to eliminate the step.

[0054] When the alignment of the floor surfaces is completed, the step detection unit 23 acquires and analyzes an image from the camera 12 installed in the car 11 (step S25). The step detection unit 23 determines whether a step has occurred between the car floor surface 15 of the car 11 and the landing floor surface 16 based on the analysis result (step S26). This is because, for example, when the robot 13 is a robot for transportation or the like, the weight changes due to the weight of the load to be transported, and there may be a step larger than the value of the position adjustment data stored in the learning table T1.

[0055] When a step equal to or greater than a certain value is detected (Yes in step S26), the position adjustment unit 24 performs floor surface alignment based on the step detected by the step detection unit 23, and readjusts the height position of the car 11 so that the car floor surface 15 and the landing floor surface 16 are flush (step S27).

[0056] In this way, after performing two-stage position adjustment as necessary, the position adjustment unit 24 refers to the destination calls registered in the call storage unit 21, and determines whether all the robots 13 registered with the destination call having this floor as the departure floor have boarded (step S28). Also, even when no step is detected in step S26 (No in step S26), the process of step S28 is executed.

[0057] When it is determined that all the robots 13 have boarded (Yes in step S28), the process shown in FIG. 7 is terminated. On the other hand, when not all the robots 13 have boarded the car 11 (No in step S28), the process of step S23 is executed again.

[0058] In the flowchart of FIG. 7, the processing when a plurality of robots 13 starting from the same floor board the car 11 has been described. However, the same applies when a plurality of robots 13 with the same destination floor get off the car 11. That is, when getting off, when the leading robot 13 gets off the car 11, the step difference generated at that time is predicted from the position adjustment data stored in the learning table T1, and floor leveling is performed to eliminate the step difference (first position adjustment). Further, the step difference is confirmed using the camera 12, and if a step difference equal to or greater than a certain value is detected, floor leveling is performed again (second position adjustment). This process is repeated until all the robots 13 get off.

[0059] In this way, by using the learning table T1, the step difference generated when the robot 13 gets on and off can be predicted in advance, so that the robot 13 can perform floor leveling during boarding and alighting. Therefore, it is not necessary to temporarily stop the subsequent robot 13 for floor leveling, and when a plurality of robots 13 use the car 11, they can get on and off quickly without leaving an interval between these robots 13.

[0060] Also, after performing floor leveling using the learning table T1, by checking the step difference using the camera 12 and then finely adjusting the car 11, it is possible to prevent the subsequent robot 13 from falling when a step difference significantly deviating from the value of the learning data occurs.

[0061] (2) Detecting a step difference based on a mark FIG. 8 is a diagram showing an image when there is no step difference between the car floor 15 of the car 11 and the landing floor 16. The car door 11a and the landing door 17 are open, and the car floor 15 and the landing floor 16 are flush. In the landing area, the robot 13a with a registered destination call is waiting.

[0062] A linear mark 43 (identifier) having a predetermined length is provided obliquely with respect to the door opening / closing direction, straddling the sill 41 of the car 11 and the sill 42 of the landing. When there is no step between the car floor 15 and the landing floor 16, the mark 43 is linearly connected between the sill 41 of the car 11 and the sill 42 of the landing. When there is a step between the car floor 15 and the landing floor 16, the mark 43 is separated at the boundary between the sill 41 of the car 11 and the sill 42 of the landing and is not linearly connected. In this case, the greater the step, the wider the interval when the mark 43 is separated. Therefore, the magnitude of the step can be known from this interval.

[0063] FIG. 9 is a diagram showing an image when there is a step between the car floor 15 of the car 11 and the landing floor 16. When the robot 13a gets on the car 11, a step is generated between the car floor 15 of the car 11 and the landing floor 16. Due to this step, the mark 43 is separated at the boundary between the sill 41 of the car 11 and the sill 42 of the landing. The step detection unit 23 obtains the interval when the mark 43 is separated on the image and detects the magnitude of the step based on that interval.

[0064] In this way, when detecting the step between the car floor 15 and the landing floor 16 from the image of the camera 12, by providing the linear mark 43 straddling the sill 41 of the car 11 and the sill 42 of the landing, the step can be easily detected from the separated state of the mark 43.

[0065] According to at least one of the embodiments described above, it is possible to provide an elevator system that can quickly eliminate the steps generated when each robot gets on and off and prevent subsequent robots from falling due to the steps.

[0066] Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, as well as in the invention described in the claims and the equivalent scope thereof.

Explanation of Reference Numerals

[0067] 11…Car, 11a…Car door, 12…Camera, 13(13a, 13b)…Robot, 14…Robot control device, 15…Car floor, 16…Landing floor, 17…Landing door, 18…Landing call button, 19…Hoist, 20…Elevator control device, 21…Call storage unit, 22…Operation control unit, 23…Step detection unit, 24…Position adjustment unit, 25…Communication unit, 31…Control unit, 32…Sensor, 33…Communication device, 34…Operation unit, 35…Display unit, 36…Storage unit, 37…Drive unit, 41…Car sill, 42…Landing sill, 43…Mark (identifier), T1…Learning table.

Claims

1. An imaging device that images the floor surface of the elevator car and the floor surface of the landing; When a plurality of robots use the elevator, the image obtained from the imaging device is analyzed to detect a step between the floor surface of the elevator car and the floor surface of the landing that occurs when any one of the plurality of robots gets on or off the elevator car. A step detection means; Position adjustment means for adjusting the position of the elevator car with respect to the floor surface of the landing based on the step detected by the step detection means; An elevator system characterized by comprising:

2. The position adjustment means is: After the robot moves from the landing to the elevator car, or after the robot moves from the elevator car to the landing, the position of the elevator car is adjusted. The elevator system according to claim 1, characterized in that:

3. The position adjustment means is: While the robot is moving from the landing to the elevator car, or while the robot is moving from the elevator car to the landing, the position of the elevator car is adjusted. The elevator system according to claim 1, characterized in that:

4. The elevator is communicably connected to a robot control device that controls the operation of the plurality of autonomous robots, Notification means for notifying the robot control device to prohibit the movement of robots scheduled to get on or off the elevator car following the robot until the position adjustment of the elevator car is completed. The elevator system according to claim 1, characterized by comprising:

5. The position adjustment means is: It has a learning table that stores, in association with the robot, data on the position adjustment of the elevator car when the robot gets on or off the elevator car, Next, when the robot gets on or off the elevator car, based on the data stored in the learning table, the position adjustment of the elevator car is executed as a first adjustment. The elevator system according to claim 1, characterized in that:

6. The position adjustment means is: After the first adjustment, when a step greater than or equal to a certain value is detected by the step detection means, the position adjustment of the elevator car is executed as a second adjustment to eliminate the step at that time. The elevator system according to claim 5, characterized in that:

7. The elevator has an identifier near the entrance and exit of the elevator car, The imaging device images the identifier. The step detection means analyzes an image of the identifier obtained from the imaging device, and detects a step between the floor surface of the car and the floor surface of the landing from the state of the identifier. The elevator system according to claim 1, characterized in that.

Images