Elevator control method and control apparatus, as well as program

Abstract

To enable a predicted time of arrival of an elevator car to be calculated with high prediction accuracy, even under an environment in which both a user and a robot use an elevator.SOLUTION: A time that is required for a robot to get on an elevator car (a time including a fully-open holding time), of a stop time of the elevator car at each floor, is set as a first target stop time, getting on / off patterns that may be generated when the robot gets on the car are set as first patterns, and a predicted value of the first target stop time is made to correspond to the first patterns respectively. Processing for specifying which pattern of the first patterns a getting-on / off pattern that is generated at getting-on each floor matches with is performed, every time when the elevator car stops at floors at which the robot gets on the car. A predicted value of the first target stop time corresponding to the first pattern specified in the processing is learnt using a time actually required in the getting-on floor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] In recent years, robots have been increasingly used for various tasks within buildings (cleaning, monitoring, transportation, etc.) (see, for example, Patent Document 1). Accordingly, elevators are increasingly being used to move robots between floors within buildings, and there are an increasing number of cases where both users and robots use elevators. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7380793 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, it takes longer for a robot to get on and off the elevator than for a user. Therefore, in an environment where both a user and a robot use the elevator, the following problems may arise.

[0005] Generally, in group management control of an elevator equipped with multiple cars, when selecting candidates for hall call allocation from among the multiple cars, the estimated arrival time of each car at the departure floor indicated by the hall call is used as one of the judgment indices (indices for determining whether each car should be selected as an allocation candidate). The estimated arrival time is calculated by taking into account the scheduled stop floors at which the car will stop before arriving at the departure floor indicated by the hall call, and by using the estimated time required to move between two different scheduled stop floors (travel time), the estimated time required for the doors at each floor from opening to fully opening (door-opening time), the estimated time required to keep the doors fully open (full-open holding time), and the estimated time required for the doors from closing to fully closing (door-closing time). These estimated values ​​are learned using the time actually required in previous operations (hereinafter, these times will be referred to as "actual measurements").

[0006] Here, the running time is determined by a predetermined series of mechanical movements of the elevator mechanism, and the door-opening operation time and the door-closing operation time are determined by a predetermined series of mechanical movements of the opening / closing mechanism. In other words, these times are hardly affected by changes in the boarding and alighting situation at the scheduled stopping floor. Furthermore, for each time determined by such a series of mechanical movements, even if the actual measured value deviates from the theoretical value, the deviation itself is often reproducible. Therefore, for these times, by performing learning using the actual measured value and reflecting the deviation in the predicted value, the predicted value can be converged to a value with high prediction accuracy.

[0007] On the other hand, the full-open hold time can change depending on the boarding and alighting situation at the scheduled stopping floor. For this reason, it is difficult to converge the predicted value for this time even if learning is performed using actual measured values, and there is a risk that the actual measured value will deviate from the predicted value each time. However, when only passengers use the elevator, boarding and alighting are carried out smoothly, so even if the actual measured value deviates from the predicted value, the deviation is rarely large enough to cause a problem.

[0008] However, in an environment where both users and robots use the elevator, the robot takes time to get on and off, so the fully open door remains open for a significantly longer time at the floor where the robot is getting on and off than when only users are getting on and off. Furthermore, if there are users getting on and off at the same floor as the robot, interference between the robot and the user is likely to occur, preventing each other from getting on and off. Due to such interference, the fully open door remains open for a significantly longer time at the floor where the robot is getting on and off, depending on whether or not there are users getting on and off at that floor. Furthermore, the fully open door remains open for a significantly longer time depending on the status of the users getting on and off.

[0009] Therefore, in an environment where both users and robots use the elevator, if a predicted value for the full-open hold time is learned in the same way as when only users get on and off, the predicted value may change significantly with each learning and become unstable. Such a predicted value may deviate significantly from the actual measured value, which may reduce the prediction accuracy of the expected arrival time and ultimately reduce the elevator's transportation efficiency.

[0010] Therefore, an object of the present invention is to be able to calculate the estimated arrival time of a car with high prediction accuracy even in an environment where both a user and a robot are using the elevator. [Means for solving the problem]

[0011] A first control method according to the present invention is a control method for learning a predicted value of a first target stop time, which is a part or all of the stop time of an elevator car at each floor, including at least the fully open hold time during which the doors of the car are held fully open, and which is the time required for a robot to board the elevator, and has the following configuration (Aspect 1). All or some of the boarding and alighting patterns that may occur for a user when the robot boards are defined as first patterns, and predicted values ​​of the first target stop times are associated with each of the first patterns. Then, each time the elevator car stops at a floor where the robot is to board, a process is performed to identify which of the first patterns the boarding and alighting pattern that occurs at that floor matches, and the predicted value of the first target stop time corresponding to the first pattern identified by the process is learned using the time actually required at that floor.

[0012] According to the above-mentioned aspect 1, the presence or absence of a user and the boarding / alighting situation that may occur when a robot gets on are patternized and classified, and for each first pattern (boarding / alighting pattern) obtained thereby, only the situations that can be expressed by that first pattern are extracted, and it becomes possible to learn a predicted value for the first target stopping time that will be required when the robot gets on under those situations. Therefore, it becomes possible to obtain a stable value for the predicted value of the first target stopping time for each first pattern.

[0013] The control method according to the above-mentioned aspect 1 may have the following configuration (aspect 2). For each elevator floor, a predicted value of the first target stop time may be associated with one first pattern. Then, each time the elevator car stops at a boarding floor of the robot, a process may be performed to identify which of the first patterns the boarding / alighting pattern occurring at that boarding floor matches, and the predicted value of the first target stop time associated with the boarding floor that corresponds to the first pattern identified by the process may be learned using the time actually required at that boarding floor.

[0014] According to the above-mentioned aspect 2, the predicted value of the first target stop time corresponding to each first pattern can be learned for each elevator floor separately from other floors. Therefore, it becomes possible to reflect changes that may occur due to differences in the floor on which the robot is riding in the predicted value of the first target stop time.

[0015] The control method according to the above-mentioned aspect 1 or 2 may have the following configuration (aspect 3). For each type of robot, a predicted value of the first target stop time may be associated with one first pattern. Then, each time the elevator car stops at a floor where the robot is to board, a process may be performed to identify which of the first patterns the boarding / alighting pattern occurring at that floor matches, and the predicted value of the first target stop time associated with the type of robot boarded at the floor that corresponds to the first pattern identified by the process may be learned using the time actually required at that floor.

[0016] According to the above-mentioned aspect 3, by distinguishing and learning the predicted value of the first target stop time corresponding to each first pattern by robot type, it is possible to reflect changes that may occur due to differences in robot type in the predicted value of the first target stop time. Furthermore, when there are many types of robots, manually setting appropriate values ​​for each robot type as the predicted value of the first target stop time corresponding to each first pattern would require the worker to do tedious work. However, according to the above-mentioned aspect 3, the predicted value of the first target stop time corresponding to each first pattern is updated as needed to appropriate values ​​for each robot type through learning, eliminating the need for such tedious work.

[0017] The control method according to any one of the above aspects 1 to 3 may have the following configuration (aspect 4). For each state that may occur in the robot, a predicted value of the first target stop time may be associated with one first pattern. Then, each time the elevator car stops at a floor where the robot is to board, a process may be performed to identify which of the first patterns the boarding / alighting pattern occurring at that floor matches, and the predicted value of the first target stop time that corresponds to the boarding state of the robot that boarded at that floor and that corresponds to the first pattern identified by the process may be learned using the time actually required at that floor.

[0018] According to the above-mentioned aspect 4, by distinguishing and learning the predicted value of the first target stop time corresponding to each first pattern based on the state (type of work, situation, etc.) that may occur in the robot, it is possible to reflect changes that may occur due to differences in the state of the robot in the predicted value of the first target stop time. Furthermore, when the state of the robot is diverse, manually setting an appropriate value for each state of the robot as the predicted value of the first target stop time corresponding to each first pattern would require the worker to do cumbersome work, but according to the above-mentioned aspect 4, the predicted value of the first target stop time corresponding to each first pattern is updated as needed to an appropriate value for each state of the robot through learning, thereby eliminating such cumbersome work.

[0019] A second control method according to the present invention is a control method for learning a predicted value of a second target stop time, which is a part or all of the stop time of an elevator car at each floor that includes at least the fully open hold time during which the doors of the car are held fully open, and which is the time required for a robot to disembark. The control method has the following configuration (Aspect 5). All or some of the boarding and alighting patterns that may occur for a user when the robot disembarks are defined as second patterns, and predicted values ​​of the second target stop times are associated with each of the second patterns. Then, each time the car stops at a floor where the robot disembarks, a process is performed to identify which of the second patterns the boarding and alighting pattern occurring at that disembarking floor matches, and the predicted value of the second target stop time corresponding to the second pattern identified by the process is learned using the time actually required at that disembarking floor.

[0020] According to the fifth aspect, the presence or absence of a user and the boarding and alighting situations that may occur when the robot alights are patternized and classified, and for each second pattern (boarding and alighting pattern) obtained thereby, only situations that can be represented by that second pattern are extracted, and it becomes possible to learn a predicted value for the second target stopping time that will be required when the robot alights under that situation. Therefore, it becomes possible to obtain a stable value for the predicted value of the second target stopping time for each second pattern.

[0021] The control method according to any one of the above aspects 1 to 5 may have the following configuration (aspect 6): When the robot gets on or off, among the boarding and alighting patterns that may occur for the user, (1) There are no users other than robots. (2) A pattern in which passengers wait inside the car. (3) A pattern in which passengers get off the car, and (4) A passenger waits in the car and another passenger gets off from the car. (5) A pattern in which passengers board the car. (6) A passenger waits in the car, and another passenger boards the car. (7) A passenger gets off the car and another passenger gets on the car. (8) A pattern in which a user waits in a car, another user gets off from the car, and then another user gets on the car. may be the first pattern or the second pattern.

[0022] A first control device according to the present invention is a control device that learns a predicted value of a first target stop time, which is a part or all of the stop time of an elevator car at each floor, including at least the fully open hold time during which the doors of the car are held fully open, and which is the time required for a robot to board the elevator, and has the following configuration (Aspect 7). The control device defines all or some of the boarding and alighting patterns that may occur for a user when the robot boards as first patterns, and associates predicted values ​​of the first target stop times with the first patterns one by one. Then, each time the car stops at a floor where the robot is to board, the control device performs a process to identify which of the first patterns the boarding and alighting pattern that occurs at that floor matches, and learns the predicted value of the first target stop time corresponding to the first pattern identified by the process, using the time actually required at that floor.

[0023] A second control device according to the present invention is a control device for learning a predicted value of a second target stop time, which is a part or all of the stop time of an elevator car at each floor, including at least the fully open hold time during which the doors of the car are held fully open, and which is the time required for a robot to disembark, and has the following configuration (Aspect 8). The control device defines all or some of the boarding and alighting patterns that may occur for a user when the robot disembarks as second patterns, and associates predicted values ​​of the second target stop times with the second patterns one by one. Then, each time the car stops at a floor where the robot disembarks, the control device performs a process to identify which of the second patterns the boarding and alighting pattern occurring at that disembarking floor matches, and learns the predicted value of the second target stop time corresponding to the second pattern identified by the process, using the time actually required at that disembarking floor.

[0024] A first program according to the present invention is a program that causes a control device to execute the following process (a ninth aspect): a first target stop time is defined as a part or all of the stop time of an elevator car at each floor, the part including at least the fully open hold time during which the doors of the car are held fully open, and is also defined as the time required for a robot to board the elevator; the program causes the control device to execute the following process (a ninth aspect): the program causes the control device to define all or some of the boarding and alighting patterns that may occur for a user when the robot boards as first patterns, and to associate predicted values ​​of the first target stop times with the first patterns one by one; and the program causes the control device to execute the following process each time the elevator car stops at a floor where the robot is to board the elevator, to identify which of the first patterns the boarding and alighting pattern occurring at that floor matches, and to learn the predicted value of the first target stop time corresponding to the first pattern identified by the process, using the time actually required at that floor.

[0025] A second program according to the present invention is a program that causes a control device to execute the following process (aspect 10): A second target stop time is a part or all of the stop time of an elevator car at each floor, the part including at least the fully open hold time during which the car doors are held fully open, and is the time required for a robot to disembark. The program learns a predicted value of the second target stop time, and causes the control device to execute the following process (aspect 10): The control device defines all or some of the boarding and alighting patterns that may occur for a user when the robot disembarks as second patterns, and associates predicted values ​​of the second target stop times with the second patterns one by one. Then, each time the car stops at a floor where the robot disembarks, the control device executes a process to identify which of the second patterns the boarding and alighting pattern occurring at that disembarking floor matches, and learns the predicted value of the second target stop time corresponding to the second pattern identified by the process, using the time actually required at that disembarking floor. [Effects of the Invention]

[0026] According to the present invention, it is possible to calculate the estimated arrival time of a car with high prediction accuracy even in an environment where both a user and a robot use the elevator. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. [Figure 2] 1A and 1B are conceptual diagrams illustrating examples of robot management data and assignment request management data used in an embodiment. [Figure 3] 1A and 1B are conceptual diagrams illustrating examples of (A) device management data for the first operation unit, (B) device management data for the second operation unit, (C) hall call management data and car call management data for users, and (D) hall call management data and car call management data for robots, all of which are used in the embodiment. [Figure 4]1A to 1C are conceptual diagrams illustrating examples of predicted value management data (Dt1, Dt2, Dt4) used in an embodiment. [Figure 5] 1A and 1B are conceptual diagrams illustrating (A) first management data and (B) second management data included in the predicted value management data (Dt3) used in this embodiment. [Figure 6] 1A to 1C are conceptual diagrams illustrating eight boarding and alighting patterns used as first patterns in this embodiment. [Figure 7] 10A to 10C are conceptual diagrams illustrating eight boarding and alighting patterns used as second patterns in this embodiment. [Figure 8] FIG. 10 is a conceptual diagram illustrating third management data included in the predicted value management data (Dt3) used in this embodiment. [Figure 9] 10 is a flowchart showing allocation request processing executed in the embodiment. [Figure 10] 10 is a flowchart illustrating an allocation process executed in the embodiment. [Figure 11] 10 is a flowchart illustrating a time calculation process executed in the embodiment. [Figure 12] FIG. 10 is a conceptual diagram showing route management data used in the time calculation process. [Figure 13] 10 is a flowchart showing a response process (including a learning process) executed in the embodiment. [Figure 14] 10 is a flowchart showing a first response process executed in the embodiment. [Figure 15] 10 is a flowchart showing a second response process executed in the embodiment. [Figure 16] 10 is a flowchart showing a third response process executed in the embodiment. [Figure 17] 10 is a flowchart showing a part of the third response process. [Figure 18] 10 is a flowchart showing a boarding / alighting command process executed in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0028] [1] Implementation [1-1] Overall structure of the elevator FIG. 1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. In this embodiment, the elevator is equipped with multiple cars G, which are used not only by passengers but also by robots H that perform various tasks (cleaning, monitoring, transport, etc.) within the building in which the elevator is installed. In addition, in this elevator, a first operating unit 1 is installed at the landing of each floor, allowing passengers to specify a destination direction Kc, and a second operating unit 2 is installed within each car G, allowing passengers to specify a destination floor Fd. In addition to these components, the elevator according to this embodiment further includes a robot management device 3 and a group management control device 4. The configuration of each unit will be described in detail below.

[0029] <1st operation section> On floors other than the terminal floors, i.e., the top floor and the bottom floor, the first operation unit 1 includes an up button for specifying an up direction as the destination direction Kc and a down button for specifying a down direction as the destination direction Kc. On the other hand, on the top floor, the first operation unit 1 includes only the down button, and on the bottom floor, the first operation unit 1 includes only the up button.

[0030] When a user operates the first operation unit 1 at a hall (by pressing the up button or down button) to specify a destination direction Kc, the destination direction Kc is transmitted to the group management control device 4. As a result, a request is made to the group management control device 4 to allocate a hall call X for the user (allocation to a car G) (allocation request from the user). At this time, device information Pd1 for distinguishing the operated first operation unit 1 from other operation units, devices, etc. is also transmitted to the group management control device 4 so that the group management control device 4 can recognize which floor the operated first operation unit 1 is for. Hereinafter, the user's hall call X will be referred to as a "hall call Xg."

[0031] <Second operation section> The second operation unit 2 includes a plurality of destination floor buttons, each corresponding to a plurality of floors that can be guided by the elevator of this embodiment. When a destination floor button is pressed on the second operation unit 2, the floor corresponding to that button is registered as the destination floor Fd.

[0032] When a user operates the second operation unit 2 in a car G (by pressing the destination floor button) to register a destination floor Fd, the destination floor Fd is transmitted to the group management control device 4. As a result, the group management control device 4 is requested to register a car call Y for the user (register it in the car G). At this time, in order to enable the group management control device 4 to recognize which car G the operated second operation unit 2 is an operation unit in, device information Pd2 for distinguishing the operation unit from other operation units, devices, etc. is also transmitted to the group management control device 4. Hereinafter, the user's car call Y will be referred to as a "car call Yg."

[0033] <Robot management device> The robot management device 3 is a device that centrally manages the robots H used in the building where the elevator of this embodiment is installed.

[0034] In this embodiment, when each robot H needs to move between floors, it transmits the destination floor Fy to the robot management device 3. At this time, the robot H also transmits robot information Ph to the robot management device 3 to identify itself from other robots H, so that the robot management device 3 can recognize which robot H has transmitted the destination floor Fy.

[0035] Then, when the robot management device 3 receives the disembarking floor Fy and robot information Ph from each robot H, it requests the group management control device 4 to allocate a hall call X for that robot H (allocation request processing; see FIG. 9). Hereinafter, the hall call X of the robot H will be referred to as a "hall call Xh." Thereafter, the robot management device 3 causes the robot H to board the car G to which the hall call Xh has been allocated and to disembark from that car G at appropriate timing (boarding and alighting command processing; see FIG. 18). Details of these processes will be described later.

[0036] Specifically, the robot management device 3 includes a storage unit 31 and a control unit 32 (see FIG. 1).

[0037] The storage unit 31 is a part configured with storage devices such as ROM and RAM, and stores information necessary for the control processing performed by the robot management device 3. In this embodiment, the storage unit 31 stores robot management data Dp and assignment request management data Ds as such information.

[0038] Here, the robot management data Dp is a database for managing, for each robot H, multiple pieces of information related to that robot H by linking them together. The allocation request management data Ds is data for managing information on allocation requests for the robot H. Specifically, it is as follows.

[0039] 2(A) is a conceptual diagram illustrating the robot management data Dp used in this embodiment. In the robot management data Dp, for each robot H, the robot information Ph and boarding floor Fx of the robot H, and the destination of the robot H when the robot H moves between floors are recorded in a mutually associated state. Here, the boarding floor Fx associated with each robot H is the floor on which the robot H is located, and is updated each time the robot H moves between floors. Furthermore, the destination associated with each robot H records the disembarking floor Fy transmitted by the robot H for interfloor movement, and the disembarking floor Fy is erased when the robot H has finished disembarking at that floor.

[0040] As a result, when the robot management device 3 receives robot information Ph from each robot H together with the disembarking floor Fy, it becomes possible to identify the boarding floor Fx of that robot H from the robot information Ph. In this embodiment, the boarding floor Fx of that robot H is used as the departure floor Fc when that robot H moves between floors using an elevator car G. Furthermore, by referring to the movement destination associated with the robot information Ph of each robot H, if the disembarking floor Fy is recorded as the movement destination, the robot management device 3 can determine that the robot H is moving between floors, and on the other hand, if the disembarking floor Fy is not recorded as the movement destination, it can determine that the robot H is deployed at the boarding floor Fx.

[0041] 2(B) is a conceptual diagram illustrating the allocation request management data Ds used in this embodiment. In the allocation request management data Ds, each time an allocation request for each robot H is made to the group management control device 4, the robot information Ph of that robot H and the departure floor Fc and destination floor Fd transmitted to the group management control device 4 in the allocation request are recorded in a mutually associated state. In this embodiment, the information of each allocation request is deleted from the allocation request management data Ds when the elevator G arrives at the destination floor Fd associated with the allocation request (specifically, after a disembarkation completion signal Sy, described later, is transmitted to the group management control device 4).

[0042] The control unit 32 is a part that is responsible for executing the control processes (including allocation request processes and boarding / disembarking command processes) performed by the robot management device 3. Specifically, the control unit 32 is composed of processing devices such as a CPU and an MPU, and executes a control program installed in the robot management device 3 to realize the execution of its own control processes in software. Note that, before being installed in the robot management device 3, this control program may be stored in a readable state on a portable storage medium (for example, a flash memory, etc.), or may be stored in a downloadable state on another server, etc. Furthermore, the control processes performed by the robot management device 3 are not limited to being realized in software by executing a program, but may also be realized in hardware by a processing circuit (control unit 32) built in the robot management device 3.

[0043] <Group management control device> The group management control device 4 is a device that centrally controls a plurality of cars G equipped in the elevator of this embodiment through an elevator control device provided for each car G.

[0044] In this embodiment, when an allocation request is received from either a user at a hall or the robot management device 3, the group management control device 4 extracts an allocation candidate Gm from among multiple cars G and allocates the hall call X ("Xg" in the case of an allocation request from a user, and "Xh" in the case of an allocation request from the robot management device 3) to the allocation candidate Gm (if there are multiple candidates, one of the allocation candidates Gm) (allocation process; see FIG. 10). At this time, the group management control device 4 calculates the estimated arrival time Tc of each car G at the departure floor Fc transmitted in the allocation request as one of the judgment indices for extracting the allocation candidate Gm (indices for determining whether each car G should be set as an allocation candidate Gm) (time calculation process; see FIG. 11). Then, the group management control device 4 controls the operation of each car G via the elevator control device, causing each car G to respond to the hall call X allocated to that car (response process; see FIGS. 13 to 17). These processes will be described in detail later, but the time calculation process will be explained in more detail here.

[0045] When the group management control device 4 receives an allocation request from a user and extracts allocation candidates Gm, it sets the boarding floor Fx and destination direction Kc of the user (the direction specified by the first operation unit 1) as the "focus floor Fw" and "focus direction Kw," and then calculates the estimated arrival time Tc of each car G at the focus floor Fw in the focus direction Kw as follows: Also, when the group management control device 4 receives an allocation request for a robot H from the robot management device 3 and extracts allocation candidates Gm, it sets the boarding floor Fx and destination direction Kc (the direction from the boarding floor Fx to the disembarking floor Fy) of the robot H as the "focus floor Fw" and "focus direction Kw," and then calculates the estimated arrival time Tc of each car G at the focus floor Fw in the focus direction Kw as follows:

[0046] The group management control device 4 designates one of the cars G (in other words, cars G that can be allocation candidates Gm) equipped in the elevator of this embodiment as the "target car Gk," and if there is a scheduled stop floor Fk where the target car Gk is scheduled to stop among the floors that the target car Gk will pass through on its way to the target floor Fw in the target direction Kw, it calculates the estimated arrival time Tc by appropriately combining the following four types of time prediction values ​​Te1 to Te4 required for the target car Gk while taking into account the scheduled stop floor Fk. The group management control device 4 then performs this time calculation process one by one for all of the cars G equipped in the elevator.

[0047] (1) A predicted value Te1 of the time (travel time) required for the target car Gk to travel from one scheduled stop floor Fk to the next scheduled stop floor Fk (here, this includes the travel of the target car Gk from the current floor Fp to the first scheduled stop floor Fk and the travel of the target car Gk from the last scheduled stop floor Fk to the target floor Fw), (2) A predicted value Te2 of the time required for the target car Gk to stop and the door to start opening until it is fully open (door opening operation time), (3) A predicted value Te3 of the time required to keep the door of the target car Gk fully open (full-open holding time), (4) A predicted value Te4 of the time required for the door of the target car Gk to be fully closed after it starts to close (door closing operation time).

[0048] Furthermore, in this embodiment, the group management control device 4 learns the predicted values ​​Te1 to Te4 of the above times (travel time, door-opening operation time, fully open hold time, door-closing operation time) from time to time using the time actually required for operation up to that point (hereinafter, this time will be referred to as the "actual measured value Tp") (learning process; see FIG. 13).The group management control device 4 then calculates the estimated arrival time Tc of each car G using the learned predicted values ​​Te1 to Te4.

[0049] Specifically, the group management control device 4 includes a storage unit 41 and a control unit 42 (see FIG. 1).

[0050] The storage unit 41 is a part configured with storage devices such as ROM and RAM, and stores information necessary for the control processing performed by the group management control device 4. In this embodiment, the storage unit 41 stores such information as device management data Dq, hall call management data Dx, car call management data Dy, and predicted value management data Dt.

[0051] Here, the device management data Dq includes device management data Dq1 for the first operation unit 1 and device management data Dq2 for the second operation unit 2. The hall call management data Dx includes hall call management data DxG for users and hall call management data DxH for the robot H. The car call management data Dy includes car call management data DyG for users and car call management data DyH for the robot H. The predicted value management data Dt includes four predicted value management data Dt1 to Dt4.

[0052] The device management data Dq1 is a database for managing, for each first operation unit 1, a plurality of pieces of information related to the first operation unit 1 by linking them together. The device management data Dq2 is a database for managing, for each second operation unit 2, a plurality of pieces of information related to the second operation unit 2 by linking them together. The hall call management data DxG and the car call management data DyG are data for managing information on hall calls Xg and car calls Yg for users, respectively. The hall call management data DxH and the car call management data DyH are data for managing information on hall calls Xh and car calls Yh for robot H, respectively. The predicted value management data Dt1 to Dt4 are data for managing predicted values ​​Te1 to Te4 of the above-mentioned times (travel time, door opening operation time, fully open hold time, door closing operation time), respectively. Specifically, they are as follows.

[0053] 3(A) is a conceptual diagram illustrating device management data Dq1 used in this embodiment for the first operation unit 1. In the device management data Dq1, for each first operation unit 1, device information Pd1 of that first operation unit 1 and the installation floor Fs are recorded in a mutually associated state.

[0054] As a result, when the group management control device 4 receives device information Pd1 together with the destination direction Kc from each first operation unit 1, it becomes possible to identify the installation floor Fs of the first operation unit 1 (the first operation unit 1 for which the destination direction Kc has been specified by the user) from the device information Pd1. In this embodiment, the installation floor Fs of the first operation unit 1 is used as the departure floor Fc (boarding floor) of the user who specified the destination direction Kc on the first operation unit 1.

[0055] 3(B) is a conceptual diagram illustrating the device management data Dq2 used in this embodiment for the second operation unit 2. In the device management data Dq2, for each second operation unit 2, device information Pd2 of that second operation unit 2 and car information Pg of the car G in which that second operation unit 2 is installed are recorded in a mutually associated state.

[0056] As a result, when the group management control device 4 receives the device information Pd2 together with the destination floor Fd from each second operation unit 2, it becomes possible to identify, from the device information Pd2, the car G in which the second operation unit 2 is installed (the car G in which the destination floor Fd has been registered by the user). Therefore, when the group management control device 4 registers the destination floor Fd received from each second operation unit 2 as a car call Yg, it becomes possible to identify the car G in which to register it.

[0057] FIG. 3(C) is a conceptual diagram illustrating the hall call management data DxG and car call management data DyG for users used in this embodiment.

[0058] In the hall call management data DxG (see the left diagram in Figure 3(C)), each piece of car information Pg of a car G is associated with an allocation status of a hall call Xg for a user for that car G. Specifically, for each elevator floor and each direction in which the car G can move from that floor, a status indicating whether or not a hall call Xg has been allocated, with the pair of floor and direction being the departure floor Fc and the destination direction Kc, respectively, is associated as the allocation status. The example in Figure 3(C) shows a case in which the allocation status for each direction from each floor is updated to "ON" when a hall call Xg has been allocated, with the pair of floor and direction being the departure floor Fc and the destination direction Kc, respectively, and is updated to "OFF" when the hall call Xg is deleted.

[0059] Furthermore, in the car call management data DyG (see the right diagram in FIG. 3(C)), the car information Pg of each car G is associated with the registration status of a car call Yg for a user of that car G. Specifically, for each elevator floor, a status indicating whether or not a car call Yg of a user with that floor as a destination floor Fd has been registered (in other words, whether or not a destination floor button for registering that floor as a destination floor Fd has been pressed on the second operating unit 2 in that car G) is associated as the registration status. The example in FIG. 3(C) shows a case in which the registration status for each floor is updated to "ON" when a car call Yg with that floor as a destination floor Fd is registered, and is updated to "OFF" when that car call Yg is deleted.

[0060] FIG. 3(D) is a conceptual diagram illustrating hall call management data DxH and car call management data DyH for robot H used in this embodiment.

[0061] In the hall call management data DxH (see the left diagram in Figure 3(D)), the car information Pg of each car G is associated with the allocation status of hall calls Xh for the robot H to that car G. Specifically, each time a hall call Xh is allocated to each robot H, the robot information Ph of that robot H and the departure floor Fc and destination floor Fd indicated by the hall call Xh are recorded in a mutually associated state. Then, when each hall call Xh has completed its role, the information corresponding to that hall call Xh in the hall call management data DxH is deleted, thereby erasing it.

[0062] Furthermore, in the car call management data DyH (see the right diagram in Figure 3(D)), the car information Pg of each car G is associated with the registration status of the car call Yh for the robot H for that car G. Specifically, each time a car call Yh for each robot H is registered, the robot information Ph of that robot H and the destination floor Fd indicated by the car call Yh are recorded in a mutually associated state. Then, when each car call Yh has completed its role, the information corresponding to that car call Yh in the car call management data DyH is erased, thereby deleting the car call Yh.

[0063] 4(A) is a conceptual diagram illustrating the predicted value management data Dt1 used in this embodiment. In the predicted value management data Dt1, a predicted value Te1 of the time (travel time) required for the car G to move between two different floors is associated with each piece of car information Pg of the car G. Specifically, assuming that two different floors are selected in order from all floors of the elevator, with the first selected floor being the first stop floor Fk1 and the second selected floor being the second stop floor Fk2, a predicted value Te1 (Fk1, Fk2) of the travel time of the car G from departing from the first stop floor Fk1 to arriving at the second stop floor Fk2 is associated with each of these combinations (Fk1, Fk2).

[0064] Fig. 4(B) is a conceptual diagram illustrating examples of the predicted value management data Dt2 and Dt4 used in this embodiment. In the predicted value management data Dt2 (see the left diagram in Fig. 4(B)), a predicted value Te2(Fz) (Fz: variable representing the floor number) of the door-opening operation time of the elevator at each floor is associated with each piece of car information Pg of the car G. In addition, in the predicted value management data Dt4 (see the right diagram in Fig. 4(B)), a predicted value Te4(Fz) (Fz: variable representing the floor number) of the door-closing operation time of the elevator at each floor is associated with each piece of car information Pg of the car G.

[0065] In this embodiment, the predicted value management data Dt3 includes first management data DtA that manages a predicted value TeA of the fully open holding time required when the robot H gets on, second management data DtB that manages a predicted value TeB of the fully open holding time required when the robot H gets off, and third management data DtC that manages a predicted value TeC of the fully open holding time when the robot H is neither getting on nor getting off.

[0066] 5(A) is a conceptual diagram illustrating the first management data DtA used in this embodiment. In the first management data DtA, eight possible patterns of getting on and off for a user when the robot H gets on are defined as first patterns Pa(M) (M is a number from 1 to 8 for distinguishing the patterns; see FIGS. 6(A) to 6(H)). Each elevator floor, and each first pattern Pa(M), is associated with a predicted value TeA(Fz,M) (Fz: a variable representing the floor number) of the full-open hold time required when the first pattern Pa(M) occurs at that floor.

[0067] 5(B) is a conceptual diagram illustrating the second management data DtB used in this embodiment. In the second management data DtB, eight possible patterns of getting on and off a user when the robot H gets off are defined as second patterns Pb(N) (N is a number from 1 to 8 for distinguishing the patterns; see FIGS. 7(A) to 7(H)). Each elevator floor, and each second pattern Pb(N), is associated with a predicted value TeB(Fz,N) (Fz: a variable representing the floor number) of the full-open hold time required when the second pattern Pb(N) occurs on that floor.

[0068] Figures 6(A) to 6(H) are conceptual diagrams illustrating eight boarding and alighting patterns used as the first pattern Pa(M) in this embodiment. Figures 7(A) to 7(H) are conceptual diagrams illustrating eight boarding and alighting patterns used as the second pattern Pb(N) in this embodiment. Specifically, the eight boarding and alighting patterns are associated with the values ​​1 to 8 of M and N, which indicate the pattern numbers, as follows:

[0069] 1: Pattern where there are no users other than Robot H (Fig. 6(A), Fig. 7(A)). 2: The user waits in the car G (Fig. 6(B), Fig. 7(B)). 3: The passenger gets off from car G (Fig. 6(C), Fig. 7(C)). 4: A passenger waits in car G, and another passenger gets off from car G (Fig. 6(D), Fig. 7(D)). 5: The user boards car G (Fig. 6(E), Fig. 7(E)). 6: A user waits in car G, and another user boards car G (Fig. 6(F), Fig. 7(F)). 7: A passenger gets off from car G and another passenger gets on to car G (Fig. 6(G), Fig. 7(G)). 8: A pattern in which a user waits in elevator G, another user gets off elevator G, and then another user gets on elevator G (Figure 6(H), Figure 7(H)).

[0070] According to such data management of the predicted value TeA(Fz, M) of the fully open hold time, it is possible to pattern and classify the presence or absence of a user and the boarding / alighting situation that may occur when the robot H gets on, and to associate an appropriate value (in this embodiment, a learned value) as the predicted value TeA(Fz, M) of the fully open hold time with each of the first patterns Pa(M) obtained thereby. As a result, when calculating the predicted arrival time Tc, it is possible to identify the boarding / alighting pattern that occurs at the boarding floor Fx of the robot H, and use the predicted value TeA(Fz, M) of the fully open hold time that corresponds to that boarding / alighting pattern, thereby calculating the predicted arrival time Tc using the predicted value TeA that is most likely to actually be required.

[0071] Furthermore, according to the data management for the predicted value TeB(Fz,N) of the fully open hold time, it is possible to pattern and classify the presence or absence of passengers and the boarding and alighting status that may occur when the robot H alights, and to associate an appropriate value as the predicted value TeB(Fz,N) of the fully open hold time for each second pattern Pb(N) obtained thereby. As a result, when calculating the predicted arrival time Tc, it is possible to identify not only the boarding and alighting pattern that occurs at the boarding floor Fx of the robot H, but also the boarding and alighting pattern that occurs at the disembarking floor Fy of the robot H, and to calculate the predicted arrival time Tc using the predicted value TeB(Fz,N) of the fully open hold time that corresponds to that boarding and alighting pattern (the predicted value TeB that is most likely to actually be required).

[0072] 8 is a conceptual diagram illustrating the third management data DtC used in this embodiment. In the third management data DtC, each elevator floor is associated with a predicted value TeC(Fz) (Fz: variable representing the floor number) of the full-open hold time required when no robot H gets on or off that floor.

[0073] The control unit 42 is a part that is responsible for executing the control processes (including allocation processes, response processes, and learning processes) performed by the group management control device 4. Specifically, the control unit 42 is composed of processing devices such as a CPU or MPU, and executes a control program installed in the group management control device 4 to realize the execution of its own control processes in software. Note that, before being installed in the group management control device 4, this control program may be stored in a readable state on a portable storage medium (for example, a flash memory, etc.), or may be stored in a downloadable state on another server, etc. Furthermore, the control processes performed by the group management control device 4 are not limited to being realized in software by executing a program, but may also be realized in hardware by a processing circuit (control unit 42) built in the group management control device 4.

[0074] [1-2] Control process executed by elevator [1-2-1] Allocation request processing performed by the robot management device 9 is a flowchart showing the allocation request process executed in this embodiment. This allocation request process is started each time the robot management device 3 receives the disembarking floor Fy and robot information Ph from each robot H. In the allocation request process, the robot H that sent this information will be referred to as the "target robot Hk." Furthermore, the information received by the robot management device 3 at that time (including the disembarking floor Fy and robot information Ph) will be collectively referred to as the "received information Pr1."

[0075] When the allocation request process is started, the robot management device 3 searches for robot information Ph managed in the robot management data Dp (see FIG. 2(A)) that matches the robot information Ph in the received information Pr1, and then records the disembarking floor Fy in the received information Pr1 as the destination associated with that robot information Ph (step S100). This enables the robot management device 3 to know the destination of the target robot Hk even in the boarding / disembarking command process described below.

[0076] Thereafter, the robot management device 3 makes a request to the group management control device 4 to allocate a hall call Xh for the target robot Hk, specifying the boarding floor Fx and disembarking floor Fy of the target robot Hk as the departure floor Fc and destination floor Fd, respectively (step S110). Specifically, the robot management device 3 sets the boarding floor Fx and disembarking floor Fy of the target robot Hk as the departure floor Fc and destination floor Fd of the target robot Hk, respectively, and transmits this information together with the robot information Ph of the target robot Hk to the group management control device 4. The robot management device 3 also records the information transmitted to the group management control device 4 (robot information Ph, departure floor Fc, destination floor Fd) as allocation request information in the allocation request management data Ds in a mutually associated state (see FIG. 2(B)). After step S110, the robot management device 3 terminates the allocation request process.

[0077] [1-2-2] Allocation process performed by the group management control device 10 is a flowchart showing the allocation process executed in this embodiment. This allocation process is started when a request for hall call allocation is made to the group management control device 4 from a user (first operation unit 1) or the robot management device 3.

[0078] Hereinafter, the information received by the group management control device 4 each time there is an allocation request will be collectively referred to as "received information Pr2." Specifically, if the allocation request is a request from a user (first operation unit 1) (a request to allocate a hall call Xg for the user), this received information Pr2 will be a set of information including the destination direction Kc and device information Pd1, and if the allocation request is a request from the robot management device 3 (a request to allocate a hall call Xh for robot H), it will be a set of information including the departure floor Fc, destination floor Fd, and robot information Ph.

[0079] When the allocation process begins, the group management control device 4 determines whether the received allocation request is from the user (first operation unit 1) or the robot management device 3 by determining whether the device information Pd1 or the robot information Ph is included in the received information Pr2 (step S200).

[0080] If the group management control device 4 determines in step S200 that the "device information Pd1" is included, it can determine that the received allocation request is a request from the user (first operation unit 1). In this case, the group management control device 4 first uses the device management data Dq1 to search for device information Pd1 managed therein that matches the device information Pd1 in the received information Pr2, extracts the installation floor Fs associated with the device information Pd1, and sets this as the departure floor Fc of the user. Then, the group management control device 4 determines the hall call Xg of the user to whom allocation should be performed (step S210). Specifically, the group management control device 4 sets the departure floor Fc of the user (=installation floor Fs) and the destination direction Kc in the received information Pr2 (the user's destination direction Kc) as the hall call Xg of the user.

[0081] After step S210, the group management control device 4 extracts allocation candidates Gm for the hall call Xg determined in step S210 from among the plurality of cars G (steps S211 and S212). Specifically, the process is as follows.

[0082] The group management control device 4 sets the departure floor Fc and destination direction Kc indicated by the hall call Xg determined in step S210 as the "target floor Fw" and "target direction Kw," and then first calculates the estimated arrival time Tc of each car G at the target floor Fw in the target direction Kw by executing a time calculation process (see FIG. 11) described later (step S211). Here, the estimated arrival time Tc is the time from the current time that is estimated to be required for the car G to arrive at the target floor Fw in the target direction Kw. Note that in step S211, the time at which the car G is estimated to arrive at the target floor Fw in the target direction Kw may be calculated as the estimated arrival time Tc.

[0083] Next, the group management control device 4 extracts allocation candidates Gm from among the multiple cars G using the estimated arrival time Tc of each car G calculated in step S211. More specifically, for each car G, the group management control device 4 uses the estimated arrival time Tc of that car G calculated in step S211 as one of the judgment indices to determine whether or not that car G should be an allocation candidate Gm for the hall call Xg. Then, the group management control device 4 extracts those of the cars G that it can determine as "should be an allocation candidate Gm (Yes)" as allocation candidates Gm.

[0084] Then, the group management control device 4 executes allocation of the hall call Xg to the allocation candidate Gm extracted in step S212 (if there are multiple candidates, one of the allocation candidates Gm) (step S213. See the left diagram in FIG. 3(C)). After that, the group management control device 4 ends the allocation process.

[0085] On the other hand, if the group management control device 4 determines in step S200 that "robot information Ph" is included, it can determine that the received allocation request is a request from the robot management device 3. In this case, the group management control device 4 first determines the hall call Xh of the robot H to which allocation should be performed (step S220). Specifically, the group management control device 4 sets the departure floor Fc and destination floor Fd in the received information Pr2 as the hall call Xh of the robot H.

[0086] After step S220, the group management control device 4 extracts allocation candidates Gm for the hall call Xh determined in step S220 from among the plurality of cars G (steps S221 and S222). Specifically, the process is as follows.

[0087] The group management control device 4 sets the departure floor Fc indicated by the hall call Xh determined in step S220 as the "floor of interest Fw," and sets the destination direction Kc of the robot H heading from that floor to the destination floor Fd (the destination floor Fd indicated by the hall call Xh) as the "direction of interest Kw." First, the group management control device 4 calculates the estimated arrival time Tc of each elevator car G to the floor of interest Fw in the direction of interest Kw by executing the time calculation process (see Figure 11) described below, as in step S211 (step S221).

[0088] Next, the group management control device 4 extracts allocation candidates Gm from among the multiple cars G using the estimated arrival time Tc of each car G calculated in step S221. More specifically, for each car G, the group management control device 4 uses the estimated arrival time Tc of that car G calculated in step S221 as one of the judgment indices to determine whether or not that car G should be an allocation candidate Gm for the hall call Xg. Then, the group management control device 4 extracts those of the cars G that it can determine as "should be an allocation candidate Gm (Yes)" as allocation candidates Gm.

[0089] Then, the group management control device 4 executes allocation of the hall call Xh to the allocation candidate Gm extracted in step S222 (if there are multiple candidates, one of them is allocated to Gm) (step S223. See the left diagram in FIG. 3(D)). After that, the group management control device 4 ends the allocation process.

[0090] [1-2-3] Time calculation process performed by the group management control device Fig. 11 is a flowchart showing the time calculation process executed in this embodiment. This time calculation process is executed one by one for all cars G (in other words, cars G that can be allocation candidates Gm) equipped in the elevator of this embodiment, with each car designated as a "target car Gk" in steps S211 and S221 in the above-mentioned allocation process (see Fig. 10).

[0091] In the time calculation process, the group management control device 4 uses the elevator information Pe that it currently holds to calculate the estimated arrival time Tc of the target car Gk as follows: At this time, the group management control device 4 uses, as the elevator information Pe, information on the current position and movement direction that indicate the operating status of the target car Gk, as well as information in the hall call management data Dx and car call management data Dy that indicate the utilization status of the target car Gk.

[0092] When the time calculation process starts, the group management control device 4 first initializes five variables Fz1, Fz2, Kz1, Kz2, and Tz used to calculate the estimated arrival time Tc (step S300). Here, the variable Fz1 is a variable for indicating the scheduled stop floors Fk (here, including the current floor Fp) at which the target car Gk is scheduled to stop during the course of the target car Gk's circular movement within the service area (see FIG. 12) until the target car Gk arrives at the target floor Fw in the target direction Kw. The variable Kz1 is a variable for indicating the departure direction Kx of the target car Gk from the scheduled stop floor Fk indicated by the variable Fz1. The variables Fz2 and Kz2 are variables for sequentially indicating the floors that the target car Gk will pass through and the direction at that time when the target car Gk is virtually moved until it can arrive at the target floor Fw in the target direction Kw (see FIG. 12). The variable Tz is a variable used to accumulate the predicted values ​​Te1 to Te4 of the time required each time the target car Gk is moved so that it can arrive at the target floor Fw in the target direction Kw, out of the four types of time (running time, door opening operation time, fully open hold time, door closing operation time).

[0093] Then, in step S300, the group management control device 4 sets the values ​​of variables Fz1 and Fz2 to the current floor Fp of the target car Gk as initial values, sets the values ​​of variables Kz1 and Kz2 to the departure direction Kx of the target car Gk from the current floor Fp, and sets the value of variable Tz to 0 (zero). Hereinafter, the departure direction Kx from the current floor Fp will be referred to as the "departure direction Kxp."

[0094] Next, the group management control device 4 determines whether the target car Gk is already stopped at the target floor Fw and is scheduled to depart in the target direction Kw by determining whether the value of variable Fz1 (= current floor Fp) matches the target floor Fw and whether the value of variable Kz1 (= departure direction Kxp) matches the target direction Kw (step S301).

[0095] If the group management control device 4 determines in step S301 that "both the floor and the direction match (Yes)," it can determine that the target car Gk is already stopped at the target floor Fw and scheduled to depart in the target direction Kw. In this case, the group management control device 4 sets the estimated arrival time Tc of the target car Gk to Tz (= 0) (step S302). Thereafter, the group management control device 4 terminates the time calculation process being executed for the target car Gk.

[0096] If the group management control device 4 determines in step S301 that "at least one of the floor and direction does not match (No)", it can use that determination to determine that the target car Gk needs to pass through other floors before arriving at the target floor Fw in the target direction Kw.

[0097] In this case, the group management control device 4 extracts the scheduled stopping floors Fk where the target car Gk is scheduled to stop one by one in the order of stops from among the floors that the target car Gk will pass through when moving within the specified section Rz (Fp, Kxp; Fw, Kw) (steps S310 to S312), calculates the estimated time required for the target car Gk to depart from the current floor Fp and depart from the scheduled stopping floor Fk (steps S313 to S360), and finally calculates the estimated time required for the target car Gk to arrive at the target floor Fw in the target direction Kw (step S370), thereby calculating the estimated arrival time Tc of the target car Gk. Here, the predetermined section Rz (Fp, Kxp; Fw, Kw) is a section of the circular route (see FIG. 12) that the target car Gk passes through when it moves around within the operating area, from when it departs from the current floor Fp in the departure direction Kxp to when it arrives at the target floor Fw in the target direction Kw. This will be explained in detail below.

[0098] In order to virtually move the target car Gk from the current floor Fp to the target floor Fw within the predetermined section Rz (Fp, Kxp; Fw, Kw), the group management control device 4 uses the route management data Dr (see FIG. 12) to identify the next floor and direction that the target car Gk will pass after passing the floor of variable Fz2 in the direction of variable Kz2, and sets these as new values ​​for variables Fz2 and Kz2 (step S310). For example, if "7F" and "downward" are substituted for variables Fz2 and Kz2, in order to virtually move the target car Gk from there to the next floor, "6F" and "downward" are identified as the next floor and direction in step S310 (see FIG. 12), and these are set as new values ​​for variables Fz2 and Kz2.

[0099] Next, the group management control device 4 determines whether the target car Gk, which was virtually moved in step S310, has arrived at the target floor Fw in the target direction Kw by determining whether the value of variable Fz2 matches the target floor Fw and whether the value of variable Kz2 matches the target direction Kw (step S311).

[0100] If the group management controller 4 determines in step S311 that "at least one of the floor and the direction does not match (No)," it can determine based on this determination that the target car Gk virtually moved in step S310 has not yet arrived at the target floor Fw in the target direction Kw. In this case, the group management controller 4 determines whether the target car Gk is scheduled to stop at the floor of variable Fz2 in the direction of variable Kz2 (step S312). In other words, the group management controller 4 determines whether the floor of variable Fz2 is a scheduled stop floor Fk of the target car Gk scheduled to stop before the target car Gk arrives at the target floor Fw in the target direction Kw. Specifically, the group management control device 4 determines whether or not a hall call X has been assigned to the target car Gk, with the floor and direction indicated by the variables Fz2 and Kz2 as the departure floor Fc and destination direction Kc (in the case of a hall call Xh, the direction from the departure floor Fc to the destination floor Fd), or whether or not a car call Y has been registered, with the floor indicated by the variable Fz2 as the destination floor Fd.

[0101] If the group management control device 4 determines in step S312 that "a stop is not scheduled (No)", it returns to step S310 and virtually moves the target car Gk to the next floor, and then makes the determinations in steps S311 and S312 again.The group management control device 4 then repeatedly executes the processing of steps S310 to S312 until it can determine in step S311 that "both the floor and the direction match (Yes)", or until it can determine in step S312 that "a stop is scheduled (Yes)".

[0102] If the group management controller 4 determines in step S312 that a stop is planned (Yes), it uses the predicted value management data Dt1 (see FIG. 4(A)) to obtain a predicted value Te1 (Fz1, Fz2) of the travel time corresponding to the two floors of variables Fz1 and Fz2, and also uses the predicted value management data Dt2 (see the left diagram in FIG. 4(B)) to obtain a predicted value Te2 (Fz2) of the door-opening operation time corresponding to the floor of variable Fz2. Then, it adds these predicted values ​​Te1 and Te2 to the value of variable Tz, and sets the resulting value as the new value of variable Tz (step S313). Here, the predicted value Te1 (Fz1, Fz2) is the predicted time required for the target car Gk to travel from the floor of variable Fz1 to the floor of variable Fz2, and the predicted value Te2 (Fz2) is the predicted time required for the door of the target car Gk to fully open after it starts to open at the floor of variable Fz2. This calculates the expected time required for the target car Gk to stop at the floor of variable Fz2 and fully open its doors after departing from the current floor Fp.

[0103] After step S313, the group management control device 4 executes the following process to determine the predicted value Te3 of the full-open hold time required on the floor of variable Fz2.

[0104] The group management control device 4 first determines whether or not robot H is boarding at the floor of variable Fz2 (step S314). Specifically, the group management control device 4 uses information in the hall call management data DxH for robot H (see the left diagram in FIG. 3(D)) that corresponds to the car information Pg of the target car Gk to determine whether or not the information contains a hall call Xh whose departure floor Fc (boarding floor Fx of robot H) matches the floor of variable Fz2 and whose direction from the departure floor Fc to the destination floor Fd (from boarding floor Fx of robot H to disembarking floor Fy) matches the direction of variable Kz2. In other words, the group management control device 4 determines whether or not such a hall call Xh has been assigned to the target car Gk.

[0105] Furthermore, in either case where the group management control device 4 determines in step S314 that "there is boarding (Yes)" or "there is no boarding (No)," it further determines whether or not the robot H will disembark at the floor of variable Fz2 (steps S315A and S315B). Specifically, the group management control device 4 uses the information in the portion of the car call management data DyH for robot H (see the right diagram in FIG. 3(D)) that corresponds to the car information Pg of the target car Gk to determine whether or not that information contains a car call Yh whose destination floor Fd (the floor Fy where robot H disembarks) matches the floor of variable Fz2. In other words, the group management control device 4 determines whether or not such a car call Yh has been registered for the target car Gk.

[0106] If the group management control device 4 determines in step S314 that "boarding will occur (Yes)" but determines in step S315A that "no disembarking will occur (No)," it can use these determinations to determine that "only boarding will occur (boarding only)" for robot H on the floor of variable Fz2. In this case, the group management control device 4 uses the elevator information Pe that it holds to identify which of the first patterns Pa(M) (see Figures 6(A) to 6(H)) the boarding and disembarking pattern that occurs when robot H boards on the floor of variable Fz2 matches (pattern identification process, step S320).

[0107] If the group management control device 4 determines in step S314 that "there will be no boarding (No)" but determines in step S315B that "there will be disembarking (Yes)," then based on these determinations, it can determine that "there will be only disembarking (disembarking only)" of robot H at the floor of variable Fz2. In this case, the group management control device 4 uses the elevator information Pe that it holds to identify which of the second patterns Pb(N) (see Figures 7(A) to 7(H)) the boarding and disembarking pattern that occurs when robot H disembarks at the floor of variable Fz2 matches (pattern identification process, step S330).

[0108] Here, the pattern identification processing executed in steps S320 and S330 will be specifically described. The group management control device 4 first makes the following three decisions [J1] to [J3] using the information in the portion corresponding to the car information Pg of the target car Gk in the hall call management data DxG for users and the car call management data DyG (see FIG. 3(C)).

[0109] J1: Determine whether a passenger is boarding the target car Gk at the floor of variable Fz2. J2: Determine whether a passenger gets off from the target car Gk at the floor of variable Fz2. J3: Determine whether there is a passenger waiting in the target car Gk at the floor of variable Fz2.

[0110] Specifically, the following judgments are made. In judgment [J1], the group management control device 4 judges whether or not the above information contains a hall call Xg having the floor of variable Fz2 as the departure floor Fc and the variable Kz2 as the destination direction Kc. In judgment [J2], the group management control device 4 judges whether or not the above information contains a car call Yg having the floor of variable Fz2 as the destination floor Fd. In judgment [J3], the group management control device 4 judges whether or not the above information contains a car call Yg having a destination floor Fd that is a floor later than the floor of variable Fz2 in the route management data Dr (see FIG. 12).

[0111] Based on the results of decisions [J1] to [J3], the group management control device 4 identifies one pattern (M=Mt) from the first pattern Pa(M) in step S320 (see Figures 6(A) to 6(H)), and identifies one pattern (N=Nt) from the second pattern Pb(N) in step S330 (see Figures 7(A) to 7(H)). Note that "Yes" shown below indicates "boarding" in decision [J1], "disembarking" in decision [J2], and "waiting" in decision [J3]. Note that "No" shown below indicates "no boarding" in decision [J1], "no disembarking" in decision [J2], and "no waiting" in decision [J3].

[0112] J1 = "None", J2 = "None", J3 = "None" ⇒ Mt = 1 or Nt = 1, J1 = "None", J2 = "None", J3 = "Yes" ⇒ Mt = 2 or Nt = 2, J1 = "None", J2 = "Yes", J3 = "None" ⇒ Mt = 3 or Nt = 3, J1 = "No", J2 = "Yes", J3 = "Yes" ⇒ Mt = 4 or Nt = 4, J1 = "Yes", J2 = "No", J3 = "No" ⇒ Mt = 5 or Nt = 5, J1 = "Yes", J2 = "No", J3 = "Yes" ⇒ Mt = 6 or Nt = 6, J1 = "Yes", J2 = "Yes", J3 = "No" ⇒ Mt = 7 or Nt = 7, J1="Yes", J2="Yes", J3="Yes" ⇒ Mt=8 or Nt=8.

[0113] After step S320, the group management control device 4 uses the first management data DtA (see FIG. 5(A)) to obtain a predicted value TeA(Fz2, Mt) of the fully open hold time corresponding to the floor of variable Fz2 and the first pattern Pa (M=Mt) identified in step S320, and then adds this predicted value TeA to the value of variable Tz, setting the resulting value as the new value of variable Tz (step S321). Here, the predicted value TeA(Fz2, Mt) is the predicted value of the fully open hold time required when the first pattern Pa (M=Mt) identified in step S320 occurs on the floor of variable Fz2, and is the predicted time required to keep the door of the target car Gk fully open when robot H boards at the floor of variable Fz2 (scheduled stop floor Fk).

[0114] After step S330, the group management control device 4 uses the second management data DtB (see FIG. 5(B)) to obtain a predicted value TeB(Fz2, Nt) of the fully open hold time corresponding to the floor of variable Fz2 and the second pattern Pb(N=Nt) identified in step S330, and then adds this predicted value TeB to the value of variable Tz, setting the resulting value as the new value of variable Tz (step S331). Here, the predicted value TeB(Fz2, Nt) is the predicted value of the fully open hold time required when the second pattern Pb(N=Nt) identified in step S330 occurs on the floor of variable Fz2, and is the predicted time required to keep the door of the target car Gk fully open when the robot H disembarks at the floor of variable Fz2 (the scheduled stop floor Fk).

[0115] If the group management control device 4 determines in step S314 that "boarding will occur (Yes)" and further determines in step S315A that "disembarking will occur (Yes)," it can determine from these determinations that "both boarding and disembarking will occur (both boarding and disembarking)" for robot H at the floor of variable Fz2. In this embodiment, when two robots H board and disembark at the same floor, the robot H in the target car Gk is first instructed to disembark, and then the robot H at the hall is instructed to board, so that the boarding and disembarking of the two robots H can be carried out smoothly (see FIG. 18). Therefore, at the floor of variable Fz2, the robot H and the user in the target car Gk disembark first, and then the robot H and the user at the hall board the target car Gk.

[0116] Therefore, when the group management control device 4 determines that "there are both boarding and disembarking (both boarding and disembarking)," it first focuses on only the robot H that disembarks of the two robots H (in other words, it assumes that there is no robot H that boards), and identifies which of the second patterns Pb(N) (see Figures 7(A) to 7(H)) the boarding and disembarking pattern that occurs when that robot H disembarks at the floor of variable Fz2 matches (pattern identification process, step S340).

[0117] Thereafter, the group management control device 4 focuses only on the boarding robot H of the two robots H (in other words, it assumes that there is no disembarking robot H), and identifies which of the first patterns Pa(M) (see Figures 6(A) to 6(H)) the boarding and disembarking pattern that occurs when that robot H boards at the floor of variable Fz2 matches (pattern identification process, step S341).

[0118] Specifically, the group management control device 4 executes the following processes in steps S340 and S341.

[0119] When the robot H in the target car Gk gets off at the floor of variable Fz2, a passenger who is planning to board at that floor is at the landing, and therefore interference is likely to occur between the getting off robot H and the passenger who is at the landing. Therefore, in step S340, the group management control device 4 makes the three decisions [J1] to [J3] described above, taking into consideration all the passengers in the target car Gk (including passengers who are planning to get off at the floor of variable Fz2 and passengers who are waiting in the target car Gk without getting off at the floor of variable Fz2) and passengers who are planning to board at the floor of variable Fz2, and identifies one pattern (N=Nt) from the second pattern Pb(N) based on the results of these decisions.

[0120] On the other hand, when the robot H at the hall gets on to the target car Gk, the passengers who plan to disembark at the floor of variable Fz2 have already disembarked from the target car Gk, so interference is unlikely to occur between the boarding robot H and the passengers who plan to disembark. Therefore, in step S341, the group management control device 4 takes into consideration passengers who are waiting in the target car Gk without disembarking at the floor of variable Fz2 and passengers who plan to board at the floor of variable Fz2, while assuming that there are no passengers who plan to disembark at the floor of variable Fz2, and performs the three judgments [J1] to [J3] described above, and identifies one pattern (M = Mt) from the first pattern Pa(M) based on the results of these judgments.

[0121] In addition, when performing pattern identification in step S341 assuming that there are no passengers planning to disembark at the floor with variable Fz2, the group management control device 4 can identify the usage status of all passengers at the floor with variable Fz2 at the time of identifying the second pattern Pb (N = Nt) in step S340 without performing the three decisions [J1] to [J3]. Therefore, by excluding passengers planning to disembark from that, it is possible to uniquely identify one pattern (M = Mt) from the first pattern Pa (M). Specifically, the first pattern Pa (M = Mt) can be uniquely identified from the second pattern Pb (N = Nt) due to the following relationship.

[0122] Nt=1 or 3 ⇒ Mt=1, Nt=2 or 4 ⇒ Mt=2, Nt=5 or 7 ⇒ Mt=5, Nt=6 or 8 ⇒ Mt=6.

[0123] After steps S340 and S341, the group management control device 4 uses the first management data DtA (see Figure 5(A)) to obtain a predicted value TeA (Fz2, Mt) of the fully open holding time corresponding to the floor of variable Fz2 and the first pattern Pa (M = Mt) identified in step S341, and uses the second management data DtB (see Figure 5(B)) to obtain a predicted value TeB (Fz2, Nt) of the fully open holding time corresponding to the floor of variable Fz2 and the second pattern Pb (N = Nt) identified in step S340, and then adds these predicted values ​​TeA and TeB to the value of variable Tz, and sets the value obtained thereby as the new value of variable Tz (step S342).

[0124] According to the processing of steps S340 to S342, even if two robots H board and disembark at the same floor, the robot H and user in the target car Gk will disembark first, and then the robot H and user at the boarding area will board. Taking this into consideration, the fully open holding time required at that floor can be predicted, thereby improving the prediction accuracy of the fully open holding time.

[0125] If the group management controller 4 determines in step S314 that "no passengers are boarding (No)" and further determines in step S315B that "no passengers are disembarking (No)," it can determine from these determinations that "there is neither boarding nor disembarking of robot H (no boarding or disembarking)" at the floor of variable Fz2. In this case, the group management controller 4 uses the third management data DtC (see FIG. 8) to obtain a predicted value TeC(Fz2) of the full-open hold time corresponding to the floor of variable Fz2, adds the predicted value TeC to the value of variable Tz, and sets the resulting value as the new value of variable Tz (step S350). Here, the predicted value TeC(Fz2) is the predicted value of the full-open hold time required when there are neither boarding nor disembarking of robot H at the floor of variable Fz2 (in other words, when only passengers are boarding or disembarking), and is the predicted time required to keep the door of the target car Gk fully open when only passengers are boarding or disembarking at that floor.

[0126] After executing any one of steps S321, S331, S342, and S350, the group management controller 4 uses predicted value management data Dt4 (see the right diagram in FIG. 4(B)) to obtain a predicted value Te4(Fz2) of the door closing operation time corresponding to the floor of variable Fz2, then adds this predicted value Te4 to the value of variable Tz, and sets the resulting value as the new value of variable Tz (step S360). Here, the predicted value Te4(Fz2) is the predicted time required from when the door of the target car Gk starts to close at the floor of variable Fz2 until it is fully closed. This calculates the predicted time required from when the target car Gk departs from the current floor Fp, when the target car Gk stops at the floor of variable Fz2, and then when the door is fully closed after opening and closing.

[0127] Thereafter, the group management control device 4 sets the values ​​of variables Fz2 and Kz2 to the new values ​​of variables Fz1 and Kz1, respectively (step S361), and returns to step S310. The group management control device 4 then repeatedly executes the processing of steps S310 to S361 until it determines in step S311 that "both the floors and the direction match (Yes)." This causes floors Fk scheduled to be stopped by the target car Gk to be extracted one by one in order of stopping from among the floors that the target car Gk passes through while moving within the predetermined section Rz (Fp, Kxp; Fw, Kw) (steps S310 to S312), and the estimated time required for the target car Gk to depart from the current floor Fp until it departs from the last scheduled stop floor Fk is calculated. This estimated time is then substituted for the variable Fz.

[0128] If the group management controller 4 determines in step S311 that "both the floor and the direction match (Yes)," then it can determine that the target car Gk virtually moved in step S310 has arrived at the target floor Fw in the target direction Kw. In this case, in order to calculate the predicted time required for the target car Gk to depart from the last scheduled stop floor Fk, arrive at the target floor Fw in the target direction Kw, and then fully open the doors, the group management controller 4 uses the predicted value management data Dt1 (see FIG. 4(A)) to obtain a predicted value Te1(Fz1, Fw) of the running time corresponding to the floor of variable Fz1 and the target floor Fw, and also uses the predicted value management data Dt2 (see the left diagram in FIG. 4(B)) to obtain a predicted value Te2(Fw) of the door-opening operation time corresponding to the target floor Fw. Then, the group management control device 4 calculates the estimated arrival time Tc of the target car Gk by adding these predicted values ​​Te1 and Te2 to the value of variable Tz (step S370). Thereafter, the group management control device 4 ends the time calculation process being executed for the target car Gk.

[0129] [1-2-4] Response processing performed by the group management control device (including learning processing) 13 is a flowchart showing the response process (including the learning process) executed in this embodiment. This response process is a process for causing each car G to execute a response operation, and is started for each car G at the timing when the next stopping floor of that car G (here, this car G will be referred to as the "focused car Gn") is determined.

[0130] Specifically, when a target car Gn is virtually moved from a current floor Fp in a departure direction Kxp using the route management data Dr (see FIG. 12), the group management control device 4 determines, for each floor that the target car Gn will pass through in sequence, whether at least one of the following has been performed for the target car Gn: an allocation of a hall call X with that floor as a departure floor Fc, and a registration of a car call Y with that floor as a destination floor Fd, using information in the hall call management data Dx and the car call management data Dy (see FIGS. 3(C) and 3(D)) that corresponds to the car information Pg of the target car Gn. Then, the group management control device 4 determines the floor that it first determines as being "performed" as the next floor for the target car Gn, and starts the response processing of FIG. 13. Here, the next floor at which the target car Gn stops will be called the "target floor Fn," and the departure direction Kx of the target car Gn from that floor will be called the "target direction Kn."

[0131] In the learning process, the group management control device 4 learns predicted values ​​Te1 to Te4 for four types of time required for the target car Gn (running time, door-opening operation time, fully-open hold time, and door-closing operation time) using the time actually required by having the target car Gn execute a response operation (actual measured value Tp). Below, the learning of the predicted value Te3 for the fully-open hold time will be described in detail.

[0132] When the response process is started, the group management control device 4 first determines what kind of calls are included in the response targets in that process (step S400). Specifically, the group management control device 4 extracts hall calls X with the target floor Fn as the departure floor Fc and car calls Y with the target floor Fn as the destination floor Fd from all calls assigned to or registered in the target car Gn. More specifically, the group management control device 4 performs the following extractions [E1] to [E4].

[0133] E1: Extraction using information corresponding to the car information Pg of the target car Gn in the hall call management data DxG for users (see the left diagram of Figure 3(C)), and extraction of hall calls Xg from that information whose departure floor Fc and destination direction Kc (floor and direction that are "ON") match the target floor Fn and target direction Kn, respectively. E2: Extraction using information from the user car call management data DyG (see the right diagram of Figure 3(C)) that corresponds to the car information Pg of the target car Gn, and from that information, extraction of car calls Yg whose destination floor Fd (the floor that is "ON") matches the target floor Fn; E3: Extraction using information from the hall call management data DxH for robot H (see the left diagram in Figure 3(D)) that corresponds to the car information Pg of the car of interest Gn, and from that information, extraction of hall calls Xh whose departure floor Fc (boarding floor Fx of robot H) matches the floor of interest Fn and whose direction from the departure floor Fc to the destination floor Fd (from boarding floor Fx of robot H to disembarking floor Fy) matches the direction of interest Kn; E4: Extraction using the information in the car call management data DyH for robot H (see the right diagram in Figure 3(D)) that corresponds to the car information Pg of the car of interest Gn, and from that information, extraction of car calls Yh whose destination floor Fd (floor Fy where robot H disembarks) matches the floor of interest Fn.

[0134] In step S400, the group management control device 4 performs such extraction [E1] to [E4] for the response targets, and then determines whether only hall calls X (either or both of the user's hall call Xg and the robot H's hall call Xh) are included in the response targets, or whether only car calls Y (either or both of the user's car call Yg and the robot H's car call Yh) are included in the response targets, or whether both hall calls X and car calls Y are included in the response targets.

[0135] Furthermore, the group management control device 4 also appropriately performs the following five judgments [Ja1], [Ja2], and [Jb1] to [Jb3] to identify the boarding and disembarking status of the robot H and the user based on various judgments during the response processing (including the first to third response processing described below) and the learning processing (including the judgment at step S400 above).

[0136] Ja1: Determine whether robot H is getting on the car Gn of interest at the floor Fn of interest. Ja2: Determine whether or not the robot H has disembarked from the car Gn of interest at the floor Fn of interest. Jb1: Determine whether a passenger is boarding the car of interest Gn at the floor of interest Fn. Jb2: Determining whether a passenger is getting off from the target car Gn at the target floor Fn, Jb3: Determine whether or not there is a passenger waiting in the target car Gn at the target floor Fn.

[0137] If the group management control device 4 determines in step S400 that "only hall call X" is included, it executes the first response process (see FIG. 14). Furthermore, based on the determination result, the group management control device 4 determines that neither the robot H nor the user will disembark from the target car Gn at the target floor Fn (Ja2="no disembarkation", Jb2="no disembarkation").

[0138] If the group management control device 4 determines in step S400 that "only car call Y" is included, it executes the second response process (see FIG. 15). Furthermore, based on the determination result, the group management control device 4 determines that neither the robot H nor a user is riding in the car Gn of interest at the floor Fn of interest (Ja1="no riding", Jb1="no riding").

[0139] When it is determined in step S400 that "both hall call X and car call Y" are included, the group management control device 4 executes a third response process (see Figs. 16 and 17).

[0140] The first to third response processes and the learning process will be specifically described below, including how the decisions [Ja1], [Ja2], and [Jb1] to [Jb3] are made.

[0141] <First response process (part 1)> 14 is a flowchart showing the first response process executed in this embodiment. In this first response process, the group management control device 4 first determines whether the response targets include the hall call Xh of the robot H (step S401).

[0142] If the group management control device 4 determines "not included (No)" in step S401, it determines, based on the determination result, that only the hall call Xg of the user is included in the response targets. In other words, the group management control device 4 determines that the robot H is not boarding the car of interest Gn at the floor of interest Fn, but on the other hand, that a user is boarding the car of interest Gn at the floor of interest Fn (Ja1="not boarded", Jb1="boarded"). In this case, the group management control device 4 causes the car of interest Gn to perform a response operation to the hall call Xg. Specifically, it is as follows.

[0143] The group management control device 4 sends a command to the target car Gn to stop it at the departure floor Fc (the user's departure floor Fc) indicated by the hall call Xg in the destination direction Kc indicated by the hall call Xg (step S410).

[0144] After step S410, the group management control device 4 determines whether the car of interest Gn has arrived at the departure floor Fc indicated by the hall call Xg (step S411). Furthermore, the group management control device 4 repeatedly executes step S411 until it can determine "arrived (Yes)" in step S411.

[0145] If the group management control device 4 determines in step S411 that the vehicle has arrived (Yes), it deletes the hall call Xg whose role has been completed with the arrival (step S412).

[0146] Thereafter, when the door of the target car Gn is fully open, the group management control device 4 starts measuring (actual measurement) the fully open holding time, and continues measuring until the door starts to close. The group management control device 4 uses the actual measurement value Tp obtained from this measurement in learning a predicted value Te3 of the fully open holding time (step S731), which will be described later.

[0147] When the doors are fully open, the user gets into the car of interest Gn that has arrived, and then operates the second operation unit 2 in the car of interest Gn (by pressing the destination floor button) to register his / her destination floor Fd. At this time, if the destination floor button corresponding to his / her destination floor Fd has already been pressed by another user and registered, the user only gets into the car of interest Gn.

[0148] Therefore, after step S412, the group management control device 4 determines whether or not an unregistered destination floor Fd has been pressed using the destination floor button in the target car Gn (step S413).

[0149] If the group management control device 4 determines in step S413 that the button has been pressed (Yes), it registers the pressed destination floor Fd in the car of interest Gn as the user's car call Yg (step S414). This makes it possible to stop the car of interest Gn at the destination floor Fd that the user has registered in the car of interest Gn. Thereafter, the group management control device 4 proceeds to step S700 (see FIG. 13) and starts the learning process. Here, the determination results regarding the boarding and alighting status obtained up to this point can be summarized as follows: Ja1 = "no boarding", Ja2 = "no alighting", Jb1 = "boarding", Jb2 = "no alighting" (boarding and alighting status [C1]).

[0150] On the other hand, if the group management control device 4 determines in step S413 that the button was not pressed (No), it proceeds to step S700 without performing step S414. In this case as well, the results of the determinations regarding the boarding and alighting status obtained up to this point are summarized as follows: Ja1 = "No boarding", Ja2 = "No alighting", Jb1 = "Boarding", Jb2 = "No alighting" (boarding and alighting status [C2]).

[0151] <Learning process (part 1)> 13, the group management control device 4 determines whether or not measurement (actual measurement) of the fully open hold time has been completed by the start of door closing. Furthermore, the group management control device 4 repeatedly executes step S700 until it can determine "completed (Yes)" in step S700.

[0152] If the group management control device 4 determines that the measurement is completed (Yes) in step S700, it performs the following processing using the results of the determinations made up to that point in order to identify the circumstances under which the actual measured value Tp obtained by the measurement was required with regard to the boarding and alighting status of the robot H and users at the target floor Fn (presence or absence of boarding and alighting, pattern, etc.).

[0153] The group management control device 4 first executes the following process to identify the boarding and alighting status of the robot H. The group management control device 4 determines whether the result of the judgment [Ja1] was "boarding" or "not boarding" (step S701). Furthermore, in either case where it is determined in step S701 that Ja1 = "boarding" or where it is determined that Ja1 = "not boarding", the group management control device 4 determines whether the result of the judgment [Ja2] was "disembarking" or "not disembarking" (steps S702A and S702B).

[0154] For the boarding and alighting situations [C1] and [C2] described above, the group management control device 4 determines Ja1 = "no boarding" in step S701, and further determines Ja2 = "no alighting" in step S702B. Based on these determination results, the group management control device 4 determines that the boarding and alighting situation of the robot H at the target floor Fn was a situation in which there was neither "boarding" nor "alighting" ("no boarding or alighting") (C1 = robot "no boarding or alighting", C2 = robot "no boarding or alighting"). In this case, the group management control device 4 learns the predicted value TeC(Fn) for the full-open hold time required when there are neither boarding nor alighting of the robot H at the target floor Fn (in other words, when only users are boarding or alighting) without specifying the boarding and alighting situation of users (step S731).

[0155] Specifically, the group management control device 4 updates the predicted value TeC(Fn) of the fully open holding time recorded in the third management data DtC (see FIG. 8) after learning using the actual measured value Tp.

[0156] As an example, the group management control device 4 can calculate the average value (TeC×I+Tp) / (I+1) using the predicted value TeC(Fn) (number of samples=I) recorded in the third management data DtC, and use the value obtained by this calculation as the new predicted value TeC(Fn) after learning. In other words, the group management control device 4 can use the average value of the previous actual measured value Tp (number of samples=I) obtained by measuring when only passengers are getting on and off at the target floor Fn and the current actual measured value Tp as the new predicted value TeC(Fn) after learning.

[0157] <First response process (part 2)> When the group management control device 4 determines in step S401 of Fig. 14 that the hall call Xh of robot H is "included (Yes)" in the response targets, it determines based on the determination result that robot H is boarding the car of interest Gn at the floor of interest Fn (Ja1="boarded"). In this case, the group management control device 4 causes the car of interest Gn to execute a response operation to the hall call Xh, and when the response targets further include a hall call Xg of a user, it also processes the hall call Xg of that user. Specifically, it is as follows.

[0158] The group management control device 4 sends a command to the target car Gn to stop it at the departure floor Fc indicated by the hall call Xh (the departure floor Fc of the robot H) in the direction toward the destination floor Fd indicated by the hall call Xh (step S510).

[0159] After step S510, the group management control device 4 determines whether the car of interest Gn has arrived at the departure floor Fc indicated by the hall call Xh (step S511). Furthermore, the group management control device 4 repeatedly executes step S511 until it can determine "arrived (Yes)" in step S511.

[0160] If the group management control device 4 determines "arrived (Yes)" in step S511, it starts measuring (actual measurement) the fully open hold time when the door of the target car Gn is fully open, and continues measuring until the door starts to close. The group management control device 4 uses the actual measurement value Tp obtained from this measurement in learning a predicted value Te3 of the fully open hold time (step S711), which will be described later.

[0161] Furthermore, the group management control device 4 determines whether or not a boarding completion signal Sx for notifying completion of boarding of the robot H has been received from the robot management device 3, in order to determine whether or not boarding of the robot H has been completed at the departure floor Fc indicated by the hall call Xh (step S512). Furthermore, the group management control device 4 repeatedly executes step S512 until it can determine "received (Yes)" in step S512.

[0162] If the group management control device 4 determines in step S512 that the hall call Xh has been received (Yes), it registers the destination floor Fd indicated by the hall call Xh (the destination floor Fd of the robot H) in the car Gn of interest as a car call Yh for the robot H (step S513). This makes it possible to stop the car Gn of interest at the destination floor Fd indicated by the hall call Xh. On the other hand, by registering the car call Yh in the car Gn of interest in this way, the hall call Xh has completed its role. Therefore, the group management control device 4 deletes the hall call Xh that has completed its role.

[0163] Thereafter, the group management control device 4 determines whether or not the response targets in this first response process further include the hall call Xg of the user (step S514).

[0164] If the group management control device 4 determines "included (Yes)" in step S514, it determines based on the determination result that a passenger is boarding the car of interest Gn at the floor of interest Fn (Jb1="boarded"). In this case, the group management control device 4 executes the processes of steps S412 to S414 (deletion of hall call Xg to registration of car call Yg) as processing for that hall call Xg. Thereafter, the group management control device 4 proceeds to step S700 (see FIG. 13) and starts the learning process. Here, the determination results for the boarding and alighting status obtained up to this point are summarized as follows: Ja1="boarded", Ja2="no alighting", Jb1="boarded", Jb2="no alighting" (boarding and alighting status [C3]).

[0165] On the other hand, if the group management control device 4 determines "not included (No)" in step S514, it determines based on that determination result that no passengers are boarding the target car Gn at the target floor Fn (Jb1="no boarding"). In this case, the group management control device 4 proceeds to step S700 without performing the processing of steps S412 to S414. Here, the determination results regarding the boarding and alighting status obtained up to this point can be summarized as follows: Ja1="boarding", Ja2="no alighting", Jb1="no boarding", Jb2="no alighting" (boarding and alighting status [C4]).

[0166] <Learning process (part 2)> For the boarding and alighting situations [C3] and [C4] described above, the group management control device 4 determines Ja1 = "boarding present" in step S701, and further determines Ja2 = "no alighting present" in step S702A. Based on these determination results, the group management control device 4 determines that the boarding and alighting situation of robot H at the target floor Fn was a "boarding only" situation (C3 = robot "boarding only", C4 = robot "boarding only"). In this case, the group management control device 4 determines which pattern of the first pattern Pa(M) (see Figures 6(A) to 6(H)) occurred at the target floor Fn as the boarding and alighting pattern that occurs when robot H boards (step S710, pattern determination process).

[0167] Specifically, the group management control device 4 first further determines [Jb3] whether or not a passenger is waiting in the target car Gn at the target floor Fn. More specifically, the group management control device 4 uses the information in the portion of the car call management data DyG for passengers (see the right diagram in Figure 3(C)) that corresponds to the car information Pg of the target car Gn to determine whether or not the information includes a car call Yg whose destination floor Fd is a floor that is later than the target floor Fn in the route management data Dr (see Figure 12).

[0168] Then, the group management control device 4 identifies one pattern (M=Mt) from the first pattern Pa(M) based on the result of decision [Jb3] and the results of decisions [Jb1] and [Jb2] obtained in the processing up to that point, as follows: Note that "Yes" shown below represents "boarding" in decision [Jb1], "disembarking" in decision [Jb2], and "waiting" in decision [Jb3]. Also, "No" shown below represents "no boarding" in decision [Jb1], "no disembarking" in decision [Jb2], and "no waiting" in decision [Jb3].

[0169] Jb1="None", Jb2="None", Jb3="None" ⇒ Mt=1, Jb1 = "No", Jb2 = "No", Jb3 = "Yes" ⇒ Mt = 2, Jb1 = "No", Jb2 = "Yes", Jb3 = "No" ⇒ Mt = 3, Jb1 = "No", Jb2 = "Yes", Jb3 = "Yes" ⇒ Mt = 4, Jb1 = "Yes", Jb2 = "No", Jb3 = "No" ⇒ Mt = 5, Jb1 = "Yes", Jb2 = "No", Jb3 = "Yes" ⇒ Mt = 6, Jb1 = "Yes", Jb2 = "Yes", Jb3 = "No" ⇒ Mt = 7, Jb1=“Yes”, Jb2=“Yes”, Jb3=“Yes” ⇒ Mt=8.

[0170] Therefore, when the group management control device 4 reaches step S710 after making the judgment of "included (Yes)" at step S514 in Figure 14 (in the case of boarding / alighting status [C3], Jb1 = "boarding", Jb2 = "no alighting"), it will determine in step S710 that pattern Mt = 5 or 6 has occurred depending on the result of judgment [Jb3].

[0171] Furthermore, if the group management control device 4 reaches step S710 after making the judgment of "not included (No)" in step S514 of Figure 14 (in the case of boarding / alighting status [C4], Jb1 = "no boarding", Jb2 = "no alighting"), it will determine in step S710 that pattern Mt = 1 or 2 has occurred depending on the result of judgment [Jb3].

[0172] Thereafter, the group management control device 4 learns a predicted value TeA(Fn, Mt) for the full-open hold time required when the first pattern Pa(Mt) identified in step S710 occurs on the target floor Fn (step S711).

[0173] Specifically, the group management control device 4 learns and updates the predicted value TeA(Fn, Mt) of the fully open holding time recorded in the first management data DtA using the actual measured value Tp.

[0174] As an example, the group management control device 4 can calculate the average value (TeA×I+Tp) / (I+1) using the predicted value TeA(Fn, Mt) (number of samples=I) recorded in the first management data DtA, and use the value obtained by this calculation as the new predicted value TeA(Fn, Mt) after learning. In other words, the group management control device 4 can use the average value of the previous actual measured value Tp (number of samples=I) obtained by measurement when the first pattern Pa(Mt) occurred on the target floor Fn and the current actual measured value Tp as the new predicted value TeA(Fn, Mt) after learning.

[0175] <Second response process (part 1)> 15 is a flowchart showing the second response process executed in this embodiment. In this second response process, the group management control device 4 first determines whether or not the response targets include the car call Yh of the robot H (step S402).

[0176] If the group management control device 4 determines "not included (No)" in step S402, it determines, based on the determination result, that only the car call Yg of the user is included in the response targets. In other words, the group management control device 4 determines that the robot H has not disembarked into the car Gn of interest at the floor Fn of interest, but on the other hand, that a user has disembarked from the car Gn of interest at the floor Fn of interest (Ja2="no disembarkation", Jb2="disembarkation"). In this case, the group management control device 4 causes the car Gn of interest to perform a response operation to the car call Yg. Specifically, this is as follows.

[0177] The group management control device 4 transmits a command to the car of interest Gn to stop the car of interest Gn at the destination floor Fd indicated by the car call Yg (destination floor Fd of the user) (step S420).

[0178] After step S420, the group management control device 4 determines whether the car of interest Gn has arrived at the destination floor Fd indicated by the car call Yg (step S421). Furthermore, the group management control device 4 repeatedly executes step S421 until it can determine "arrived (Yes)" in step S421.

[0179] If the group management control device 4 determines in step S421 that the car has arrived (Yes), it deletes the car call Yg that has completed its role upon arrival (step S422).

[0180] Thereafter, when the door of the target car Gn is fully open, the group management control device 4 starts measuring (actual measurement) the fully open holding time, and continues measuring until the door starts to close. The group management control device 4 uses the actual measurement value Tp obtained from this measurement in learning a predicted value Te3 of the fully open holding time (step S731), which will be described later.

[0181] Thereafter, the group management control device 4 proceeds to step S700 (see FIG. 13) and starts the learning process. Here, the judgment results about the boarding and alighting status obtained up to this point are summarized as follows: Ja1="no boarding", Ja2="no alighting", Jb1="no boarding", Jb2="alighting" (boarding and alighting status [C5]).

[0182] In the learning process, the group management control device 4 determines that the boarding / alighting situation of robot H at the target floor Fn was "no boarding / alighting" based on the results of Ja1="no boarding" and Ja2="no alighting" for the boarding / alighting situation [C5] (C5="robot "no boarding / alighting"). Therefore, the group management control device 4 proceeds to step S731 without determining the boarding / alighting situation of users, and learns the predicted value TeC(Fn) for the full-open hold time required when neither robot H boards nor alights at the target floor Fn (in other words, when only users board or alight) using the actual measured value Tp.

[0183] <Second response process (part 2)> When the group management control device 4 determines in step S402 of Fig. 15 that the car call Yh of the robot H is "included (Yes)" in the response targets, it determines based on the determination result that the robot H will disembark into the car Gn of interest at the floor Fn of interest (Ja2="disembarkation present"). In this case, the group management control device 4 causes the car Gn of interest to execute a response operation to the car call Yh, and if the response targets also include a car call Yg of a user, it also processes the car call Yg of that user. Specifically, it is as follows.

[0184] The group management control device 4 transmits a command to the target car Gn to stop the target car Gn at the destination floor Fd indicated by the car call Yh (the destination floor Fd of the robot H) (step S520).

[0185] After step S520, the group management control device 4 determines whether the car of interest Gn has arrived at the destination floor Fd indicated by the car call Yh (step S521). Furthermore, the group management control device 4 repeatedly executes step S521 until it can determine "arrived (Yes)" in step S521.

[0186] If the group management control device 4 determines in step S521 that the car has arrived (Yes), it deletes the car call Yh that has completed its role upon arrival (step S522).

[0187] The group management control device 4 then starts measuring (actual measurement) the fully open hold time when the door of the target car Gn is fully open, and continues measuring until the door starts to close. The group management control device 4 uses the actual measurement value Tp obtained from this measurement in learning the predicted value Te3 of the fully open hold time (step S721).

[0188] Furthermore, the group management control device 4 determines whether or not a disembarking completion signal Sy for notifying completion of disembarking of the robot H has been received from the robot management device 3 (step S523), in order to determine whether or not the robot H has completed disembarking at the destination floor Fd indicated by the car call Yh. Furthermore, the group management control device 4 repeatedly executes step S523 until it can determine "received (Yes)" in step S523.

[0189] If the group management control device 4 determines in step S523 that the call has been received (Yes), it then determines whether the user's car call Yg is further included in the response targets in this second response process (step S524).

[0190] If the group management control device 4 determines in step S524 that it is "included (Yes)", it determines, based on the determination result, that a passenger will disembark from the target car Gn at the target floor Fn (Jb2="disembarkation"). In this case, the group management control device 4 executes the processing of step S422 (deletion of car call Yg) as processing for that car call Yg. Thereafter, the group management control device 4 proceeds to step S700 (see FIG. 13) and starts learning processing. Here, the determination results regarding the boarding and alighting status obtained up to this point are summarized as follows: Ja1="no boarding", Ja2="disembarking", Jb1="no boarding", Jb2="disembarking" (boarding and alighting status [C6]).

[0191] On the other hand, if the group management control device 4 determines "not included (No)" in step S524, it determines based on the determination result that no passengers will disembark from the target car Gn at the target floor Fn (Jb2="no disembarkation"). In this case, the group management control device 4 proceeds to step S700 without performing the processing of step S422. Here, the determination results regarding the boarding and alighting status obtained up to this point can be summarized as follows: Ja1="no boarding", Ja2="alighting", Jb1="no boarding", Jb2="no alighting" (boarding and alighting status [C7]).

[0192] <Learning process (part 3)> For the boarding and alighting situations [C6] and [C7] described above, the group management control device 4 determines Ja1 = "no boarding" in step S701, and further determines Ja2 = "alighting" in step S702B. Based on these determination results, the group management control device 4 determines that the boarding and alighting situation of robot H at the target floor Fn was a "alighting only" situation (C6 = robot "alighting only", C7 = robot "alighting only"). In this case, the group management control device 4 determines which pattern of the second pattern Pb(N) (see Figures 7(A) to 7(H)) occurred at the target floor Fn as the boarding and alighting pattern that occurs when robot H alights (step S720, pattern determination process).

[0193] Specifically, the group management control device 4 first further performs a determination [Jb3] of whether or not a passenger is waiting in the target car Gn at the target floor Fn. Then, based on the result of determination [Jb3] and the results of determinations [Jb1] and [Jb2] obtained in the previous processes, the group management control device 4 identifies one pattern (N=Nt) from the second pattern Pb(N) as follows: Note that "Yes" shown below represents "boarding" in determination [Jb1], "disembarking" in determination [Jb2], and "waiting" in determination [Jb3]. Also, "No" shown below represents "no boarding" in determination [Jb1], "no disembarking" in determination [Jb2], and "no waiting" in determination [Jb3].

[0194] Jb1 = "None", Jb2 = "None", Jb3 = "None" ⇒ Nt = 1, Jb1 = "No", Jb2 = "No", Jb3 = "Yes" ⇒ Nt = 2, Jb1 = "No", Jb2 = "Yes", Jb3 = "No" ⇒ Nt = 3, Jb1 = "No", Jb2 = "Yes", Jb3 = "Yes" ⇒ Nt = 4, Jb1 = "Yes", Jb2 = "No", Jb3 = "No" ⇒ Nt = 5, Jb1 = "Yes", Jb2 = "No", Jb3 = "Yes" ⇒ Nt = 6, Jb1 = "Yes", Jb2 = "Yes", Jb3 = "No" ⇒ Nt = 7, Jb1="Yes", Jb2="Yes", Jb3="Yes" ⇒ Nt=8.

[0195] Therefore, when the group management control device 4 reaches step S720 after making the judgment of "included (Yes)" at step S524 in Figure 15 (in the case of boarding / alighting status [C6], Jb1 = "no boarding", Jb2 = "alighting"), it will determine in step S720 that a pattern of Nt = 3 or 4 has occurred depending on the result of judgment [Jb3].

[0196] Furthermore, if the group management control device 4 reaches step S720 after making the judgment of "not included (No)" in step S524 of Figure 15 (in the case of boarding / alighting status [C7], Jb1 = "no boarding", Jb2 = "no alighting"), it will determine in step S720 that a pattern of Nt = 1 or 2 has occurred depending on the result of judgment [Jb3].

[0197] Thereafter, the group management control device 4 learns a predicted value TeB(Fn, Nt) for the full-open hold time required when the second pattern Pb(Nt) identified in step S720 occurs on the target floor Fn (step S721).

[0198] Specifically, the group management control device 4 updates the predicted value TeB(Fn, Nt) of the fully open holding time recorded in the second management data DtB after learning it using the actual measured value Tp.

[0199] As an example, the group management control device 4 can calculate the average value (TeB×I+Tp) / (I+1) using the predicted value TeB(Fn,Nt) (number of samples=I) recorded in the second management data DtB, and use the value obtained by this calculation as the new predicted value TeB(Fn,Nt) after learning. In other words, the group management control device 4 can use the average value of the previous actual measured value Tp (number of samples=I) obtained by measurement when the second pattern Pb(Nt) occurred on the target floor Fn and the current actual measured value Tp as the new predicted value TeB(Fn,Nt) after learning.

[0200] <Third response process (part 1)> 16 and 17 are flowcharts showing the third response process executed in this embodiment. In this third response process, the group management control device 4 first determines whether the response targets include the hall call Xh of the robot H (step S403). Furthermore, in either case where the group management control device 4 determines "not included (No)" or "included (Yes)" in step S403, the group management control device 4 determines whether the response targets include the car call Yh of the robot H (steps S404A and S404B).

[0201] If the group management control device 4 determines "not included (No)" in step S403 and also determines "not included (No)" in step S404A, it determines, based on these determination results, that the response targets do not include any of the robot H's calls (hall call Xh and car call Yh), but that the response targets include the user's hall call Xg. In other words, the group management control device 4 determines that at the target floor Fn, neither the robot H has boarded nor disembarked from the target car Gn, but that at the target floor Fn, a user has boarded the target car Gn (Ja1="no boarding", Ja2="no disembarking", Jb1="boarding").

[0202] In this case, the group management control device 4 executes the same processes as steps S410 to S414 (including measurement of the full-open hold time) described in the first response process (steps S430 to S434). Then, the group management control device 4 further determines whether or not the response targets in this third response process include a user's car call Yg (step S561).

[0203] If the group management control device 4 determines "included (Yes)" in step S561, it determines based on the determination result that a passenger will disembark from the target car Gn at the target floor Fn (Jb2="disembarkation occurred"). Here, if a passenger car call Yg is included in the response targets, the arrival of the target car Gn will also complete the role of that car call Yg. Therefore, if the group management control device 4 determines "included (Yes)" in step S561, it also deletes the car call Yg that has completed its role (step S562).

[0204] Thereafter, the group management control device 4 proceeds to step S700 (see FIG. 13) and starts the learning process. Here, the judgment results about the boarding and alighting status obtained up to this point are summarized as follows: Ja1="no boarding", Ja2="no alighting", Jb1="boarding", Jb2="alighting" (boarding and alighting status [C8]).

[0205] On the other hand, if the group management control device 4 determines "not included (No)" in step S561, it determines based on the determination result that no passengers will disembark from the target car Gn at the target floor Fn (Jb2="no disembarkation"). In this case, the group management control device 4 proceeds to step S700 without performing the processing of step S562. Here, the determination results regarding the boarding and alighting status obtained up to this point can be summarized as follows: Ja1="no boarding", Ja2="no alighting", Jb1="boarding", Jb2="no alighting" (boarding and alighting status [C9]).

[0206] In the learning process, the group management control device 4 determines that the boarding / alighting situation of robot H at the target floor Fn was a "no boarding / alighting" situation based on the results of Ja1="no boarding" and Ja2="no alighting" for both of the above boarding / alighting situations [C8] and [C9] (C8="no robot alighting / alighting", C9="no boarding / alighting"). Therefore, the group management control device 4 proceeds to step S731 without determining the boarding / alighting situation of users, and learns the predicted value TeC(Fn) for the full-open hold time required when neither robot H gets on nor off at the target floor Fn (in other words, when only users get on and off) using the actual measured value Tp.

[0207] <Third response process (part 2)> 16, if the group management control device 4 determines "not included (No)" but determines "included (Yes)" in step S404A, it determines based on these determination results that the response targets do not include the hall call Xh of robot H, but on the other hand, the response targets include both the hall call Xg of the user and the car call Yh of robot H. In other words, the group management control device 4 determines that robot H is not boarding the car Gn of interest at the floor of interest Fn, but on the other hand, a user is boarding the car Gn of interest and robot H is disembarking at the floor of interest Fn (Ja1="no boarding", Ja2="disembarking", Jb1="boarding").

[0208] In this case, the group management control device 4 performs the same processing as steps S430 and S431 (steps S440 and S441), and if it determines in step S441 that "it has arrived (Yes)", it first performs the same processing as steps S522 and S523 (including measuring the fully open hold time) described in the second response processing as processing for the car call Yh of robot H (steps S530 and S531). Then, if the group management control device 4 determines in step S531 that the disembarkation completion signal Sy has "been received (Yes)", it performs the processing from step S432 as processing for the user's hall call Xg.

[0209] Thereafter, the group management control device 4 proceeds to step S561 and determines whether or not the response targets in this third response process further include a user's car call Yg.

[0210] If the group management control device 4 determines in step S561 that it is "included (Yes)", it determines, based on the determination result, that a passenger will disembark from the target car Gn at the target floor Fn (Jb2="disembarkation"). In this case, the group management control device 4 deletes the car call Yg that has completed its role (step S562). Thereafter, the group management control device 4 proceeds to step S700 (see FIG. 13) and starts the learning process. Here, the determination results regarding the boarding and alighting status obtained up to this point can be summarized as follows: Ja1="no boarding", Ja2="disembarking", Jb1="boarding", Jb2="disembarking" (boarding and alighting status [C10]).

[0211] In the learning process, the group management control device 4 determines that the boarding / alighting situation of robot H at the target floor Fn was a "disembarkation only" situation based on the results of Ja1="no boarding" and Ja2="disembarking" for the boarding / alighting situation [C10] (C10=robot "disembarking only"). Therefore, the group management control device 4 proceeds to step S720, and determines one pattern (N=Nt) from the second pattern Pb(N) based on the results of Jb1="boarding" and Jb2="disembarking" and the result of judgment [Jb3]. Specifically, the group management control device 4 determines that pattern Nt=7 or 8 has occurred based on the result of judgment [Jb3]. Thereafter, in step S721, the group management control device 4 performs learning of the predicted value TeB(Fn, Nt) using the actual measured value Tp.

[0212] On the other hand, if the group management control device 4 determines "not included (No)" in step S561, it determines based on the determination result that no passengers will disembark from the target car Gn at the target floor Fn (Jb2="no disembarkation"). In this case, the group management control device 4 proceeds to step S700 without performing the processing of step S562. Here, the determination results regarding the boarding and alighting status obtained up to this point can be summarized as follows: Ja1="no boarding", Ja2="alighting", Jb1="boarding", Jb2="no alighting" (boarding and alighting status [C11]).

[0213] For this boarding / alighting situation [C11] as well, in the learning process, the group management control device 4 will determine that the boarding / alighting situation of robot H at the target floor Fn was a "disembarking only" situation (C11 = robot "disembarking only"). Meanwhile, in step S720, the group management control device 4 will determine one pattern (N = Nt) from the second pattern Pb(N) based on the results of Jb1 = "boarding" and Jb2 = "no disembarking" and the result of judgment [Jb3]. Therefore, the group management control device 4 will determine that pattern Nt = 5 or 6 has occurred depending on the result of judgment [Jb3]. Thereafter, in step S721, the group management control device 4 performs learning of the predicted value TeB(Fn, Nt) using the actual measured value Tp.

[0214] <Third response process (part 3)> 16, if the group management control device 4 determines "included (Yes)" but determines "not included (No)" in step S404B, it determines, based on these determination results, that the response targets include the hall call Xh of robot H, but on the other hand, the response targets do not include the car call Yh of robot H. In other words, the group management control device 4 determines that robot H has boarded the target car Gn at the target floor Fn, but on the other hand, robot H has not disembarked from the target car Gn at the target floor Fn (Ja1="boarded", Ja2="not disembarked").

[0215] In this case, the group management control device 4 proceeds to process Z1 (see the left diagram in FIG. 17) and executes the same processes as steps S510 to S513 (including measurement of the fully open hold time) described in the first response process (steps S540 to S543). Then, the group management control device 4 further determines whether the response targets in this third response process include the user's hall call Xg (step S560 in FIG. 16).

[0216] If the group management control device 4 determines in step S560 that "included (Yes)", it determines based on the determination result that a passenger is boarding the car of interest Gn at the floor of interest Fn (Jb1="boarded"). In this case, the group management control device 4 executes the processes of steps S432 to S434 (deletion of hall call Xg to registration of car call Yg) as processing for that hall call Xg.

[0217] Thereafter, the group management control device 4 proceeds to step S561, where it further determines whether or not the car call Yg of the user is included in the response targets in this third response process. Here, the third response process is a process executed when both the hall call X and the car call Y are included in the response targets. Therefore, in step S561, which is reached after the determination that the car call Yh of robot H is "not included (No)" (step S404B), the group management control device 4 always determines that it is "included (Yes)." In other words, the group management control device 4 always determines that a passenger will disembark from the car Gn of interest at the floor Fn of interest (Jb2="disembarkation occurred"). Then, the group management control device 4 deletes the car call Yg that has completed its role (step S562).

[0218] Thereafter, the group management control device 4 proceeds to step S700 (see FIG. 13) and starts the learning process. Here, the judgment results about the boarding and alighting status obtained up to this point are summarized as follows: Ja1="boarding", Ja2="no alighting", Jb1="boarding", Jb2="alighting" (boarding and alighting status [C12]).

[0219] In the learning process, the group management control device 4 determines that the boarding / alighting situation of robot H at the target floor Fn was a "boarding only" situation based on the results of Ja1="boarding" and Ja2="no alighting" for the boarding / alighting situation [C12] (C12="robot alighting only"). Therefore, the group management control device 4 proceeds to step S710, and determines one pattern (M=Mt) from the first pattern Pa(M) based on the results of Jb1="boarding" and Jb2="alighting" and the result of judgment [Jb3]. Specifically, the group management control device 4 determines that pattern Mt=7 or 8 has occurred based on the result of judgment [Jb3]. Thereafter, in step S711, the group management control device 4 performs learning of the predicted value TeA(Fn, Mt) using the actual measured value Tp.

[0220] On the other hand, if the group management control device 4 determines in step S560 that the car call Yg is "not included (No)," it determines, based on the determination result, that no passengers are getting on the car Gn of interest at the floor Fn of interest (Jb1="no boarding"). In this case, the group management control device 4 proceeds to step S561 without performing the processing of steps S432 to S434. In step S561 at this time, the group management control device 4 also always determines that the car call Yg is "included (Yes)" (Jb2="passenger alighting") and deletes the car call Yg that has completed its role (step S562).

[0221] Thereafter, the group management control device 4 proceeds to step S700 (see FIG. 13) and starts the learning process. Here, the judgment results about the boarding and alighting status obtained up to this point are summarized as follows: Ja1="boarding", Ja2="no alighting", Jb1="no boarding", Jb2="alighting" (boarding and alighting status [C13]).

[0222] For this boarding / alighting status [C13] as well, in the learning process, the group management control device 4 will determine that the boarding / alighting status of robot H at the target floor Fn was a "boarding only" status (C13 = robot "boarding only"). Meanwhile, in step S710, the group management control device 4 will determine one pattern (M = Mt) from the first pattern Pa(M) based on the results of Jb1 = "no boarding" and Jb2 = "alighting" and the result of judgment [Jb3]. Therefore, the group management control device 4 will determine that pattern Nt = 3 or 4 has occurred depending on the result of judgment [Jb3]. Thereafter, in step S711, the group management control device 4 performs learning of the predicted value TeA(Fn, Mt) using the actual measured value Tp.

[0223] <Third response process (part 4)> If the group management control device 4 determines "included (Yes)" in step S403 and also determines "included (Yes)" in step S404B, it determines, based on these determination results, that the response targets include both the hall call Xh of robot H and the car call Yh of another robot H. In other words, the group management control device 4 determines that at the target floor Fn, both robot H will board the target car Gn and robot H will disembark from the target car Gn (Ja1="boarding", Ja2="disembarking"). In this case, the group management control device 4 proceeds to process Z2 (see the right diagram in Figure 17), and first executes the same processes as steps S540 and S541 of process Z1 (steps S550 and S551).

[0224] In this embodiment, when two robots H board and disembark at the same floor, the robot H in the target car Gn is first instructed to disembark, and then the robot H at the landing is instructed to board, so that the two robots H can board and disembark smoothly (see Figure 18).

[0225] Therefore, when the group management control device 4 determines that "arrived (Yes)" in step S551 of process Z2, it deletes the car call Yh (car call Yh of robot H scheduled to disembark at the target floor Fn) that has completed its role upon arrival (step S552), and then, when the door of the target car Gn is fully open, it starts measuring (actual measurement) the fully open holding time.

[0226] Then, the group management control device 4 first determines whether or not a dismounting completion signal Sy for notifying completion of dismounting of the robot H at the target floor Fn has been received from the robot management device 3 (step S553), in order to determine whether or not dismounting of the robot H has been completed. Furthermore, the group management control device 4 repeatedly executes step S553 until it can determine "received (Yes)" in step S553.

[0227] If the group management control device 4 determines "received (Yes)" in step S553, it next determines whether or not a boarding completion signal Sx for notifying that boarding of another robot H has been completed from the robot management device 3, in order to determine whether or not boarding of the robot H has been completed at the target floor Fn (step S554). Furthermore, the group management control device 4 repeatedly executes step S554 until it determines "received (Yes)" in step S554.

[0228] If the group management control device 4 determines in step S554 that the call has been received (Yes), it registers the destination floor Fd indicated by the hall call Xh of the robot H that boarded at the target floor Fn as the car call Yh of that robot H in the target car Gn (step S555). In addition, the group management control device 4 deletes the hall call Xh that has completed its role by registering the car call Yh.

[0229] Then, after executing process Z2, the group management control device 4 executes steps S560 to S562. Thereafter, the group management control device 4 proceeds to step S700 (see FIG. 13). In this embodiment, if the results for the boarding and alighting status are Ja1="boarding" and Ja2="alighting", the group management control device 4 ends the process without learning the predicted value Te3 for the full open hold time.

[0230] According to the learning process of this embodiment, the presence or absence of a user and the boarding / disembarking situations that may occur when the robot H gets on are patterned and classified, and for each first pattern Pa(M) obtained thereby, only situations that can be expressed by that first pattern Pa(M) are extracted, and it becomes possible to learn the predicted value TeA for the full-open hold time required when the robot H gets on under those situations. Therefore, it becomes possible to obtain a stable value for the predicted value TeA for the full-open hold time for each first pattern Pa(M).

[0231] Furthermore, the presence or absence of passengers and boarding / disembarking situations that may occur when robot H dismounts are also patternized and classified, and for each second pattern Pb(N) obtained by this, only the situations that can be expressed by that second pattern Pb(N) are extracted, and it becomes possible to learn the predicted value TeB for the fully open holding time required when robot H dismounts under that situation. Therefore, it becomes possible to obtain a stable value for the predicted value TeB for the fully open holding time for each second pattern Pb(N).

[0232] Therefore, in the time calculation process described above, the estimated arrival time Tc of each elevator car G can be calculated with high prediction accuracy even in an environment where both the user and the robot H use the elevator.

[0233] Furthermore, in this embodiment, a predicted value TeA(Fz,M) (Fz: variable representing the floor number) for the fully open hold time is learned for each first pattern Pa(M) of the elevator, and a predicted value TeB(Fz,N) for the fully open hold time is learned for each second pattern Pb(N). Therefore, the predicted value TeA(Fz,M) for the fully open hold time corresponding to each first pattern Pa(M) can be learned separately for each elevator floor, and the predicted value TeB(Fz,N) for the fully open hold time corresponding to each second pattern Pb(N) can be learned separately for each elevator floor. As a result, it is possible to reflect changes in the predicted value TeA(Fz,M) for the fully open hold time due to differences in the floor Fx of the robot H. In addition, it is possible to reflect changes that may occur due to differences in the disembarking floor Fy of the robot H in the predicted value TeB(Fz, N) of the fully open holding time.

[0234] Therefore, in this embodiment, the estimated arrival time Tc of each elevator car G can be calculated with higher prediction accuracy.

[0235] [1-2-5] Boarding and disembarking command processing performed by the robot management device FIG. 18 is a flowchart showing the boarding / alighting command process executed in this embodiment.

[0236] In this embodiment, the robot management device 3 constantly acquires car operation information indicating the operating status of each car G from the group management control device 4. Specifically, the robot management device 3 constantly requests the group management control device 4 to return car operation information at that time, and acquires necessary information by receiving the car operation information returned from the group management control device 4 in response to the request. Then, based on the car operation information acquired in this manner, the robot management device 3 knows the current position and movement direction (including the departure direction Kx from the stopping floor and the arrival direction Ky at the stopping floor) of each car G. Therefore, the robot management device 3 can determine whether each car G has arrived at a stopping floor, and when it is determined that any car G has "arrived," it can identify the floor number of the arrival floor at that time, the arrival direction Ky to that arrival floor, and the next departure direction Kx from that arrival floor.

[0237] Therefore, the robot management device 3 determines for each elevator G whether the elevator G has arrived at the stop floor, and when it determines that the elevator G has arrived, it starts the boarding and alighting command processing of Figure 18 after identifying the floor number of the arrival floor at that time, the arrival direction Ky to that arrival floor, and the next departure direction Kx from that arrival floor, in order to have the robot H board or alight appropriately in that elevator G (here, this elevator G will be referred to as the "target elevator Gn").

[0238] When the boarding / disembarking command processing is started, the robot management device 3 first determines whether the arrival floor of the target car Gn matches any of the destination floors Fd recorded in the allocation request management data Ds (see Figure 2 (B)) (in other words, the destination floors Fd sent in the allocation request) in order to determine whether there is a possibility that the stop of the target car Gn at the arrival floor is a stop in response to the car call Yh of the robot H (a stop to allow the robot H to disembark) (step S601).

[0239] If the robot management device 3 determines "match (Yes)" in step S601, it further executes a dismount command process (steps S610 to S616) to determine whether the stop of the target car Gn at the arrival floor is in response to the car call Yh of the robot H, and to perform processing according to the determination result (such as issuing a dismount command to the robot H). Thereafter, the robot management device 3 proceeds to the process of step S602. The dismount command process will be described in detail later.

[0240] On the other hand, if the robot management device 3 determines that there is no match (No) in step S601, it proceeds to step S602 without performing the dismount command process.

[0241] In step S602, the robot management device 3 determines whether the arrival floor of the target car Gn matches any of the departure floors Fc recorded in the allocation request management data Ds (Figure 2(B)) (in other words, the departure floors Fc sent in the allocation request) in order to determine whether the stop of the target car Gn at the arrival floor is likely to be a stop in response to the hall call Xh of the robot H (a stop to allow the robot H to board).

[0242] If the robot management device 3 determines "match (Yes)" in step S602, it executes boarding command processing (steps S620 to S624) to determine whether the stop of the target car Gn at the arrival floor is in response to the hall call Xh of the robot H, and to perform processing according to the determination result (such as issuing a boarding command to the robot H). Thereafter, the robot management device 3 terminates the boarding / alighting command processing. The details of the boarding command processing will be described later.

[0243] In the boarding / alighting command processing of Fig. 18, by making it possible to execute the disembarking command processing before the boarding command processing in this way, when it becomes necessary to have two robots H board and disembark at the same floor, the robot H in the target car Gn can disembark first, and then the robot H at the landing can board. Therefore, according to the boarding / alighting command processing of Fig. 18, the two robots H can board and disembark smoothly.

[0244] If the robot management device 3 determines "no match" in step S602, it terminates the boarding / alighting command processing without performing the boarding command processing. Here, if the robot management device 3 determines "no match" in step S601 and also determines "no match" in step S602, it can determine based on these determinations that the stop of the target car Gn at the arrival floor is neither a stop in response to the hall call Xh of robot H nor a stop in response to the car call Yh of robot H; in other words, a stop in response to a user call (hall call Xg or car call Yg). In this case, the robot management device 3 does not need to process robot H, and therefore terminates the boarding / alighting command processing without performing either the boarding command processing or the alighting command processing.

[0245] <Disembarkation command processing> In the disembarkation command processing, the robot management device 3 first determines the allocation request in the allocation request management data Ds that was determined to be "matching (Yes)" in step S601 as the first focus request, and uses the departure floor Fc and destination floor Fd sent in that first focus request (specifically, the departure floor Fc and destination floor Fd corresponding to the first focus request in the allocation request management data Ds) to identify the direction from the departure floor Fc to the destination floor Fd as the transport direction Kh of the robot H (step S610).

[0246] Next, the robot management device 3 determines whether the arrival direction Ky of the target car Gn at the arrival floor matches the transport direction Kh of the robot H identified in step S610 (step S611) in order to determine whether the stop of the target car Gn at the arrival floor is in response to the car call Yh of the robot H.

[0247] If the robot management device 3 determines that there is a match (Yes) in step S611, it can use that determination to determine that the stopping of the target car Gn at the arrival floor is a stop in response to the car call Yh of the robot H.

[0248] On the other hand, if the robot management device 3 determines "no match" in step S611, it can determine that the stop of the target car Gn at the arrival floor is not a stop in response to the car call Yh of robot H, in other words, a stop in response to the passenger's hall call Xg or car call Yg, or the hall call Xh of robot H. In this case, the robot management device 3 does not need to have robot H disembark at the arrival floor, so it ends the disembarkation command processing and proceeds to step S602.

[0249] In this way, by the robot management device 3 making the judgments in steps S601 and S611, the robot management device 3 itself can determine that the target car Gn has arrived at the destination floor Fd in response to the car call Yh of the robot H, without notification from the group management control device 4.

[0250] If the robot management device 3 determines that there is a match (Yes) in step S611, it identifies the robot H that should be dismounted from the target car Gn using the robot information Ph in the allocation request management data Ds (see Figure 2 (B)) corresponding to the first target request, and commands the robot H (target robot Hk) to dismount from the target car Gn (step S612).

[0251] As a result, the target robot Hk starts dismounting from the target car Gn in response to a command from the robot management device 3, and when dismounting is complete, notifies the robot management device 3 of the dismounting completion. After step S612, the robot management device 3 determines whether or not a dismounting completion notification has been received from the target robot Hk, thereby determining whether or not dismounting of the target robot Hk from the target car Gn has been completed (step S613). Furthermore, the robot management device 3 repeatedly executes step S613 until it can determine "completed (Yes)" in step S613.

[0252] If the robot management device 3 determines that the process is "completed (Yes)" in step S613, it sends a dismounting completion signal Sy to the group management control device 4, along with the car information Pg of the target car Gn and the robot information Ph of the target robot Hk, to notify the group management control device 4 that the target robot Hk has completed dismounting (step S614).

[0253] Then, the robot management device 3 updates the boarding floor Fx recorded in the robot management data Dp for the target robot Hk with the destination floor (disembarking floor Fy) associated with the boarding floor Fx, and deletes the disembarking floor Fy recorded there from the destination (step S615). Furthermore, the robot management device 3 deletes information about the first target request, whose role has been completed by robot H disembarking (robot information Ph, departure floor Fc, destination floor Fd), from the allocation request management data Ds (step S616). Thereafter, the robot management device 3 ends the disembarking command processing and proceeds to step S602.

[0254] <Boarding command processing> In the boarding command processing, the robot management device 3 first determines the allocation request in the allocation request management data Ds that was determined to be "matching (Yes)" in step S602 as the second focus request, and uses the departure floor Fc and destination floor Fd sent in the second focus request (specifically, the departure floor Fc and destination floor Fd corresponding to the second focus request in the allocation request management data Ds) to identify the direction from the departure floor Fc to the destination floor Fd as the transport direction Kh of the robot H (step S620).

[0255] Next, the robot management device 3 determines whether the departure direction Kx of the target car Gn from the arrival floor matches the conveying direction Kh of the robot H identified in step S620 (step S621), in order to determine whether the stop of the target car Gn at the arrival floor is in response to the hall call Xh of the robot H.

[0256] If the robot management device 3 determines that there is a match (Yes) in step S621, it can use that determination to identify that the stopping of the target car Gn at the arrival floor is a stop in response to the hall call Xh of the robot H.

[0257] On the other hand, if the robot management device 3 determines "no match" in step S621, it can determine that the stop of the target car Gn at the arrival floor is not a stop in response to the hall call Xh of the robot H, in other words, a stop in response to a user call (hall call Xg or car call Yg). In this case, the robot management device 3 terminates the boarding / alighting command processing because there is no need for the robot H to board at the arrival floor.

[0258] In this way, by the robot management device 3 making the judgments of steps S602 and S621, the robot management device 3 itself can determine that the target car Gn has arrived at the departure floor Fc in response to the hall call Xh of the robot H, without notification from the group management control device 4.

[0259] If the robot management device 3 determines that there is a match (Yes) in step S621, it identifies the robot H to be loaded into the target cage Gn using the robot information Ph in the allocation request management data Ds (see Figure 2(B)) corresponding to the second target request, and instructs the robot H (target robot Hk) to load into the target cage Gn (step S622).

[0260] As a result, the target robot Hk starts boarding the target car Gn in response to a command from the robot management device 3, and when boarding is complete, notifies the robot management device 3 of the completion of boarding. After step S622, the robot management device 3 determines whether boarding of the target robot Hk into the target car Gn is complete by determining whether or not a boarding completion notification has been received from the target robot Hk (step S623). Furthermore, the robot management device 3 repeatedly executes step S623 until it can determine "completed (Yes)" in step S623.

[0261] If the robot management device 3 determines "completed (Yes)" in step S623, it transmits a boarding completion signal Sx to notify the group management control device 4 that the boarding of the target robot Hk is complete, along with the car information Pg of the target car Gn and the robot information Ph of the target robot Hk (step S624). Thereafter, the robot management device 3 ends the boarding / disembarking command processing.

[0262] According to the control processing of this embodiment, the robot management device 3 itself can determine, without notification from the group management control device 4 (in other words, autonomously), whether or not it is necessary to board or disembark the robot H at the arrival floor of each elevator G, and can also send commands and signals according to that determination to the robot H and the group management control device 4.

[0263] [2] Variation [2-1] First modified example There are various types of robots H for different tasks such as cleaning, monitoring, and transportation, and the time required for the robot H to get on and off may differ depending on the type of robot H. In such cases, the time required for the robot H to maintain full open when getting on and off will differ depending on the type of robot H.

[0264] Therefore, in the above-described embodiment, the first management data DtA (data for managing the predicted value TeA of the fully open holding time required when the robot H gets on; see Figure 5(A)) and the second management data DtB (data for managing the predicted value TeB of the fully open holding time required when the robot H gets off; see Figure 5(B)) may be set for each type of robot H.

[0265] Then, in step S711 of the learning process (see FIG. 13), the group management control device 4 may learn a predicted value TeA(Fn, Mt) using the actual measured value Tp for each type of robot H that boarded at the target floor Fn. Also, in step S721 of the learning process, the group management control device 4 may learn a predicted value TeB(Fn, Nt) using the actual measured value Tp for each type of robot H that disembarked at the target floor Fn.

[0266] According to the first modified example, the predicted value TeA of the fully-open hold time corresponding to each first pattern Pa(M) is learned separately for each type of robot H, thereby making it possible to reflect changes that may occur due to differences in the type of robot H in the predicted value TeA of the fully-open hold time. Furthermore, if there are many types of robot H, manually setting an appropriate value for each type of robot H as the predicted value TeA of the fully-open hold time corresponding to each first pattern Pa(M) would require a cumbersome task for the worker. However, according to the first modified example, the predicted value TeA of the fully-open hold time corresponding to each first pattern Pa(M) is updated as needed to an appropriate value for each type of robot H through learning, eliminating such cumbersome work. Similarly, it is possible to reflect changes that may occur due to differences in the type of robot H in the predicted value TeB of the fully-open hold time corresponding to each second pattern Pb(N).

[0267] [2-2] Second variant Even if the type of robot H is the same, the time required for the robot H to get on and off the elevator may differ depending on the state of the robot H when using the elevator (such as the type and situation of the work, specifically, while carrying luggage, while cleaning, etc.). In such cases, the time required for the robot H to maintain the fully open position when getting on and off the elevator will differ depending on the state of the robot H.

[0268] Therefore, in any of the above-described embodiments and variant examples, the first management data DtA (see Figure 5(A)) and the second management data DtB (see Figure 5(B)) may be set for each state that can occur to the robot H.

[0269] Then, in step S711 of the learning process (see FIG. 13), the group management control device 4 may learn a predicted value TeA(Fn, Mt) using the actual measured value Tp for each state at the time of boarding for the robot H that boarded at the floor Fn of interest (and may also be for each type of the robot H). Also, in step S721 of the learning process, the group management control device 4 may learn a predicted value TeB(Fn, Nt) using the actual measured value Tp for each state at the time of disembarking for the robot H that disembarked at the floor Fn of interest (and may also be for each type of the robot H).

[0270] According to the second modified example, the predicted value TeA of the fully-open hold time corresponding to each first pattern Pa(M) is learned by distinguishing between possible states of the robot H (such as the type of work or situation), thereby making it possible to reflect changes that may occur due to differences in the state of the robot H in the predicted value TeA of the fully-open hold time. Furthermore, if the state of the robot H is diverse, manually setting an appropriate value for each state of the robot H as the predicted value TeA of the fully-open hold time corresponding to each first pattern Pa(M) would require the worker to perform tedious work. However, according to the second modified example, the predicted value TeA of the fully-open hold time corresponding to each first pattern Pa(M) is updated as needed to an appropriate value for each state of the robot H through learning, eliminating such tedious work. Similarly, it is possible to reflect changes that may occur due to differences in the state of the robot H in the predicted value TeB of the fully-open hold time corresponding to each second pattern Pb(N).

[0271] [2-3] Third variant In any of the above-described embodiments and modified examples, instead of the predicted value Te3 of the fully open hold time, a predicted value of the time obtained by adding the door opening operation time or the door closing operation time to the fully open hold time may be used.

[0272] In other words, instead of the predicted value TeA of the fully open hold time required when the robot H gets on, a predicted value of a part or all of the stopping time of the car G at each floor, which includes at least the fully open hold time, and which is also the time required when the robot H gets on (first target stopping time) may be used. In this case, in the first management data DtA (see FIG. 5(A)), the predicted values ​​of the first target stopping times are associated with the first patterns Pa(M) one by one.

[0273] Furthermore, instead of the predicted value TeB of the fully open hold time required when the robot H dismounts, a part or all of the stopping time of the car G at each floor, which includes at least the fully open hold time, and which is also the time required when the robot H dismounts (second target stopping time) may be used. In this case, in the second management data DtB (see FIG. 5(B)), the predicted values ​​of the second target stopping times are associated with the second patterns Pb(N) one by one.

[0274] [2-4] Fourth Variation In the time calculation process (Figure 11) described above, if the group management control device 4 determines in steps S314 and S315A that "there will be both boarding and disembarking of robot H (both boarding and disembarking)" at the floor of variable Fz2, it identifies the first pattern Pa(Fz2, Mt) in step S340 and the second pattern Pb(Fz2, Nt) in step S341, and then adds the corresponding predicted values ​​TeA(Fz2, Mt) and TeB(Fz2, Nt) of the fully open hold time to the value of variable Tz in step S342, and sets the value obtained thereby as the new value of variable Tz.

[0275] Alternatively, the group management control device 4 may add only the longer of the predicted values ​​TeA(Fz2, Mt) and TeB(Fz2, Nt) to the value of variable Tz, and use the value obtained thereby as the new value of variable Tz.

[0276] Alternatively, the group management control device 4 may not perform pattern identification in steps S340 and S341, but may add either the longest of the predicted values ​​TeA(Fz2,M) corresponding to the eight first patterns Pa(Fz2,M) or the longest of the predicted values ​​TeB(Fz2,N) corresponding to the eight second patterns Pb(Fz2,N), or only the value without time, to the value of variable Tz, and use the value obtained thereby as the new value of variable Tz.

[0277] In this way, by estimating a longer predicted value for the fully open holding time required when two robots H board and disembark at the same floor, the elevator car G scheduled to stop at such a floor is more likely to be excluded from being extracted as an allocation candidate Gm in steps S211 and S212 of the allocation process (Figure 10).

[0278] [2-5] Fifth variant In any of the above-described embodiments and modifications, the first management data DtA (see FIG. 5(A)) may be appropriately changed so that predicted values ​​TeA of the fully open hold time correspond to each of the first patterns Pa(M) independently of the elevator floor. Also, the second management data DtB (see FIG. 5(B)) may be appropriately changed so that predicted values ​​TeB of the fully open hold time correspond to each of the second patterns Pb(N) independently of the elevator floor.

[0279] [2-6] Sixth Variation In any of the above-described embodiments and modifications, the first pattern Pa(M) is not limited to the eight boarding / alighting patterns shown in Figures 6(A) to 6(H) and may use only some of them, or may use all or some of the combinations of the eight boarding / alighting patterns with other boarding / alighting patterns.Furthermore, the second pattern Pb(N) is not limited to the eight boarding / alighting patterns shown in Figures 7(A) to 7(H) and may use only some of them, or may use all or some of the combinations of the eight boarding / alighting patterns with other boarding / alighting patterns.

[0280] [2-7] 7th variant Any of the above-described embodiments and modified examples may be modified as appropriate so as not to execute the learning process (see FIG. 13), in other words, to perform the time calculation process (see FIG. 11) using fixed values ​​previously set as predicted values ​​Te1 to Te4 of various times (travel time, door opening operation time, fully open hold time, door closing operation time).

[0281] [2-8] Eighth Variation In any of the above-described embodiments and modifications, the request for allocation of a hall call Xg for a user may be appropriately changed to one requested from a destination floor registration device installed on each floor by the user registering a destination floor Fd in the destination floor registration device. In this case, the destination floor registration device transmits the destination floor Fd registered by the user and its own device information Pd1 to the group management control device 4 as a request for allocation of a hall call Xg for the user.

[0282] When the group management control device 4 receives an allocation request from a destination floor registration device, it determines in step S200 of Figure 10 that it is "device information Pd1", and then in subsequent step S210, it sets the floor Fs where the destination floor registration device (the destination floor registration device identified by the received device information Pd1; see Figure 3(A)) is installed as the departure floor Fc, and then it treats the departure floor Fc and the received destination floor Fd (the destination floor Fd registered by the user in the destination floor registration device) as one hall call Xg and assigns it to an allocation candidate Gm.

[0283] In this case, when responding to a hall call Xg from a user in the first response processing of Fig. 14, the group management control device 4 will register the destination floor Fd indicated by the hall call Xg (the user's destination floor Fd) as the user's car call Yg in the car G instead of steps S412 to S414, and will thereby delete the hall call Xg that has completed its purpose. Furthermore, when responding to a hall call Xg from a user in the third response processing of Fig. 16, the group management control device 4 will perform similar processing instead of steps S432 to S434.

[0284] [2-9] 9th variant In any of the above-described embodiments and modifications, each robot H may be modified as appropriate to execute the control processes (including allocation request processes and boarding / disembarking command processes) performed by the robot management device 3 on behalf of the robot management device 3. In this case, each robot H will communicate with the group management control device 4 without going through the robot management device 3. This allows each robot H to use the elevator car G autonomously.

[0285] The above-described embodiments and modifications should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined not by the above-described embodiments and modifications, but by the claims. Furthermore, the scope of the present invention is intended to include all modifications that are equivalent to the scope of the claims and fall within the scope thereof.

[0286] Furthermore, from the above-described embodiments and modifications, the subject matter of the invention is not limited to the control device (the group management control device 4 in the above-described embodiments and modifications), but may also include control processes (including control methods) and programs executed by the control device, individually, or some of them may be extracted partially. Furthermore, the subject matter of the invention may also include the robot management device 3, the robot H, and furthermore, control processes (including control methods) and programs executed by them, individually, or some of them may be extracted partially. Furthermore, the subject matter of the invention may also include some or all of an elevator equipped with a control device, a robot management device 3, and a robot H. [Explanation of symbols]

[0287] 1 1st operation section 2 2nd operation section 3. Robot Management Device 4 Group management control device G car H Robot X Platform call Y Cage call 31, 41 Storage section 32, 42 Control section DP Robot Management Data Dq Equipment Management Data Dr. Route Management Data Ds Allocation request management data Dt predicted value management data Dx Hall call management data Dy Cage call management data Fc Departure Floor Fd Destination floor Fk scheduled stop floor Fn, Fw Focused floor Fp Current Floor Fs Installation floor Fx boarding floor FY Exit Floor GK target basket Gm allocation candidate Gn Attention Basket Hk Target Robot Kc destination direction Kh Conveying direction Kn, Kw focus direction Kx, Kxp departure direction Ky Arrival Direction Pa 1st Pattern Pb 2nd pattern Pe Elevator Information Pg Basket Information Ph Robot Information Rz designated section Sx ride completion signal Sy exit completion signal Tc Estimated arrival time Tp measured value Xg, Xh hall call Yg, Yh cage call Dq1, Dq2 Equipment management data Dt1, Dt2, Dt3, Dt4 Forecast value management data DtA 1st Management Data DtB Second Management Data DtC 3rd Management Data DxG, DxH Hall call management data DyG, DyH car call management data Fk1 1st stop floor Fk2 2nd stop Pd1, Pd2 device information Pr1, Pr2 received information Te1, Te2, Te3, Te4 predicted values TeA, TeB, TeC predicted values

Claims

1. A control method for an elevator, in which a first target stop time is defined as a part or all of a stop time of a car at each floor, the part or all of the time including at least a fully open hold time during which the car door is held fully open, and the time required for a robot to board the car, and learning a predicted value for the first target stop time, all or some of the boarding and alighting patterns that may occur for the user when the robot is boarded are defined as first patterns, and the predicted values ​​of the first target stopping times are associated with the first patterns one by one; An elevator control method in which, each time the elevator car stops at the robot's boarding floor, a process is performed to identify which of the first patterns the boarding and alighting pattern occurring at that boarding floor matches, and a predicted value of the first target stop time corresponding to the first pattern identified by that process is learned using the time actually required at that boarding floor.

2. the predicted value of the first target stop time is associated with the first pattern one by one for each elevator floor; 2. The elevator control method according to claim 1, wherein, each time the elevator car stops at a boarding floor of the robot, a process is performed to identify which of the first patterns the boarding / alighting pattern occurring at that boarding floor matches, and the predicted value of the first target stop time associated with the boarding floor that corresponds to the first pattern identified by that process is learned using the time actually required at that boarding floor.

3. the predicted value of the first target stopping time is associated with the first pattern one by one for each type of robot; 2. The elevator control method of claim 1, wherein each time the elevator car stops at a floor where the robot is to board, a process is performed to identify which of the first patterns the boarding and alighting pattern occurring at that floor matches, and the predicted values ​​of the first target stop times associated with the type of robot boarding at that floor that correspond to the first pattern identified by that process are learned using the time actually required at that floor.

4. a predicted value of the first target stopping time is associated with each of the first patterns for each state that may occur in the robot; 2. The elevator control method of claim 1, wherein each time the elevator car stops at a floor where the robot is to board, a process is performed to identify which of the first patterns the boarding and alighting pattern occurring at that floor matches, and the predicted values ​​of the first target stop times associated with the boarding state of the robot that boarded at that floor that correspond to the first pattern identified by that process are learned using the time actually required at that floor.

5. A control method for an elevator, in which a second target stop time is a part or all of a stop time of a car at each floor, the part or all of the time including at least a fully open hold time during which the car door is held fully open, and the time required for a robot to get off the car, and learning a predicted value for the second target stop time, all or some of the boarding and alighting patterns that may occur for the user when the robot alights are set as second patterns, and the predicted values ​​of the second target stopping times are associated with the second patterns one by one; An elevator control method in which, each time the car stops at the robot's disembarking floor, a process is performed to identify which of the second patterns the boarding and alighting pattern occurring at that disembarking floor matches, and a predicted value of the second target stop time corresponding to the second pattern identified by that process is learned using the time actually required at that disembarking floor.

6. Among the boarding and alighting patterns that may occur for a user when the robot gets on or off, (1) There are no users other than the robot. (2) A pattern in which the user waits in the car; (3) A pattern in which a passenger gets off the car; (4) A pattern in which a user waits in the elevator and another user gets off from the elevator; (5) A pattern in which a user gets on the car; (6) A pattern in which a user waits in the elevator and another user boards the elevator; (7) A pattern in which a user gets off the car and another user gets on the car; (8) A pattern in which a user waits in the car, another user gets off from the car, and another user gets on the car; The elevator control method according to any one of claims 1 to 5, wherein the first pattern or the second pattern is:

7. In an elevator, a first target stop time is a part or all of a stop time of a car at each floor, the part including at least a fully open hold time during which the car door is held fully open, and is a time required for a robot to board the car, and the control device learns a predicted value for the first target stop time, all or some of the boarding and alighting patterns that may occur for the user when the robot is boarded are defined as first patterns, and the predicted values ​​of the first target stopping times are associated with the first patterns one by one; An elevator control device that, each time the car stops at the robot's boarding floor, performs a process to identify which of the first patterns the boarding and alighting pattern occurring at that boarding floor matches, and learns a predicted value of the first target stop time corresponding to the first pattern identified by that process using the time actually required at that boarding floor.

8. a control device for learning a predicted value of a second target stop time, which is a part or all of a stop time of a car at each floor, including at least a fully open hold time during which the door of the car is held fully open, and which is a time required for a robot to get off the car; all or some of the boarding and alighting patterns that may occur for the user when the robot alights are set as second patterns, and the predicted values ​​of the second target stopping times are associated with the second patterns one by one; An elevator control device that performs a process to identify which of the second patterns the boarding and alighting pattern occurring at the robot's disembarking floor matches each time the car stops at the robot's disembarking floor, and learns a predicted value of the second target stop time corresponding to the second pattern identified by the process using the time actually required at the disembarking floor.

9. a program that causes a control device to execute the following: a first target stop time is a part or all of a stop time of an elevator car at each floor, the part or all of the time including at least a fully open hold time during which the door of the elevator car is held fully open, and the time required for a robot to board the elevator; and learning a predicted value for the first target stop time, all or some of the possible getting-on and getting-off patterns of the user when the robot gets on are defined as first patterns, and the predicted values ​​of the first target stopping times are associated with the first patterns one by one; The program executes the following: each time the elevator car stops at the floor where the robot is to board, a process is performed to identify which of the first patterns the boarding and alighting pattern occurring at that floor matches; and a predicted value of the first target stop time corresponding to the first pattern identified by that process is learned using the time actually required at that floor.

10. a program that causes a control device to execute the following: a second target stop time is a part or all of the stop time of an elevator car at each floor, the part or all of the time including at least a fully open hold time during which the door of the elevator car is held fully open, and the time required for a robot to disembark; and learning a predicted value for the second target stop time, all or some of the possible getting-on and getting-off patterns of the user when the robot gets off are set as second patterns, and the predicted values ​​of the second target stopping times are associated with the second patterns one by one; The program executes the following: each time the elevator car stops at the robot's disembarking floor, it performs a process to identify which of the second patterns the boarding and alighting pattern occurring at that disembarking floor matches; and it learns a predicted value of the second target stop time corresponding to the second pattern identified by that process using the time actually required at that disembarking floor.

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