Autonomous movable body cooperation system for elevator

Abstract

To restore an autonomous movable body derailed during boarding / alighting from a car.SOLUTION: In this autonomous movable body cooperation system for an elevator, a control panel causes a car to respond to a call for enabling an autonomous movable body to use the elevator upon acquisition of the call from a first server, generates a step between a floor of the car and a floor of a landing to restore the autonomous movable body when the autonomous movable body fails to board / alight from the car after the car having arrived at the landing to open a door in response to the call, and a second server includes a storage unit that stores first information regarding a configuration of the autonomous movable body, and causes, when the restoration of the autonomous movable body is successful, the storage unit to store second information regarding the restoration operation of the autonomous movable body executed by the control panel in association with the first information regarding the autonomous movable body to be restored.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] An embodiment of the present invention relates to an elevator autonomous mobile body cooperation system. [Background technology]

[0002] In recent years, in elevator systems, autonomous mobile objects such as robots are moved to different floors in a building to perform various tasks. As a result, there have been cases where some kind of malfunction occurs in the autonomous mobile objects.

[0003] For example, Patent Document 1 discloses an elevator system that can detect the state of a cleaning robot that cleans a designated floor unmanned when an abnormality occurs in the cleaning robot by issuing an alarm. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-137650 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the technology of Patent Document 1, after detecting an alarm, the autonomous moving body needs to be restored or removed by a worker or other person. For example, when getting on or off the car, the robot may lose its wheels if its wheels get stuck in the gap between the floor of the car and the floor of the platform. In such cases, it is desirable to be able to restore the body without the need for a worker's intervention.

[0006] The problem that this embodiment aims to solve is to provide an elevator-autonomous mobile body cooperation system that can restore an autonomous mobile body that has run off the tracks when passengers get on or off the car. [Means for solving the problem]

[0007] An embodiment of the elevator and autonomous mobile body cooperation system includes an autonomous mobile body that can move autonomously, a first server that manages the autonomous mobile body, a second server that manages the elevator and is capable of communicating with the first server, and a control panel that is configured to be able to control the elevator car and is capable of communicating with the first server via the second server. When the autonomous mobile body receives a call from the first server to use the elevator, the control panel causes the car to respond to the call, and when the car arrives at a landing in response to the call, opens the door of the car, and if the autonomous mobile body fails to board or disembark from the car, the control panel creates a step between the floor of the car and the floor of the landing to restore the autonomous mobile body. The second server has a memory unit that stores first information related to the structure of the autonomous mobile body, and when the autonomous mobile body is successfully restored, the control panel associates second information related to the restoration operation of the autonomous mobile body by the control panel with the first information related to the autonomous mobile body to be restored and stores it in the memory unit. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the overall configuration of an elevator / robot cooperation system according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram illustrating an example of a detailed configuration of the elevator system according to the embodiment. [Figure 3] FIG. 3 is a block diagram illustrating an example of a detailed configuration of a server in a robot cloud according to the embodiment. [Figure 4] FIG. 4 is a block diagram illustrating an example of a detailed configuration of the robot according to the embodiment. [Figure 5] FIG. 5 is a schematic diagram illustrating sequential examples of cooperative operations between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 6] FIG. 6 is a schematic diagram illustrating sequential examples of cooperative operations between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 7]FIG. 7 is a schematic diagram illustrating sequential examples of cooperative operations between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 8] FIG. 8 is a schematic diagram illustrating sequential examples of cooperative operations between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 9] FIG. 9 is a schematic diagram illustrating sequential examples of cooperative operations between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 10] FIG. 10 is a schematic diagram illustrating sequential examples of cooperative operations between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 11] FIG. 11 is a schematic diagram illustrating sequential examples of cooperative operations between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 12] FIG. 12 is a schematic diagram illustrating sequential examples of cooperative operations between the elevator system and the robot in the elevator / robot cooperative system according to the embodiment. [Figure 13] FIG. 13 is a flowchart illustrating an example of a procedure for a process of recovering a robot from a runaway wheel by the elevator system according to the embodiment. [Figure 14] FIG. 14 is a flowchart illustrating an example of a procedure of a process performed by the elevator system according to the first modification of the embodiment. [Figure 15] FIG. 15 is a flowchart illustrating an example of a procedure for a process of recovering a robot from a runaway wheel by an elevator system according to the second modification of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Overall configuration of elevator / robot collaboration system) FIG. 1 is a diagram illustrating an example of the overall configuration of an elevator / robot cooperation system 1 according to an embodiment.

[0010] As shown in FIG. 1, an elevator / robot cooperation system 1 of the embodiment includes an elevator system 2, a plurality of robot clouds 300 (300a, 300b, 300c, . . . ), and a robot 500.

[0011] The elevator system 2 includes cars 50 (50a, 50b), control panels 100 (100a, 100b), controllers 150 (150a, 150b), and an elevator cloud 200. Although two cars 50 are shown in FIG. 1, the number of cars 50 is not limited to this, and the elevator system 2 may include, for example, three or more cars. In this case, a control panel 100 and a controller 150 are provided for each car 50.

[0012] The configuration including the control panel 100, the controller 150, and the elevator cloud 200 may be referred to as an elevator control system 2B.

[0013] The elevator system 2 of the embodiment is installed in a building 3 having multiple floors, such as an office building or an apartment building. More specifically, the elevator system 2 includes corresponding cars 50, control panels 100, and controllers 150 in hoistways 30 (30a, 30b) provided in the building 3. In addition, a rope for driving the cars 50, a hoist, a counterweight, etc. are also provided in the hoistway 30.

[0014] Each car 50 is provided with a door 53 that opens and closes in conjunction with a door 63 at the landing 60, and is capable of carrying not only elevator users but also robots 500. The car 50 moves up and down in the hoistway 30, allowing users and robots 500 to be transported between different floors.

[0015] The control panel 100 is connected wirelessly or by wire to the rope, hoist, and counterweight that drive the car 50 to be controlled, as well as the door 53 provided on the car 50, and controls each of these parts to operate the car 50 to be controlled. The control panel 100 is also connected wirelessly or by wire to the controller 150.

[0016] The controller 150 is connected to the server 210 in the elevator cloud 200 via a network. As a result, the controller 150 controls communication between the corresponding control panel 100 and the server 210, and relays various signals between the control panel 100 and the server 210. In this way, the controller 150 is an intermediary device that has an interface function for relaying signals between the control panel 100 and the server 210, and a hub function.

[0017] The elevator cloud 200 is a computer system placed on a cloud, including a server 210. The elevator cloud 200 may include one or more computers having physical components such as a central processing unit (CPU), a read-only memory (ROM), and a random access memory (RAM).

[0018] The server 210 instructs the corresponding control panel 100 to perform various controls on each part of the elevator car 50 to be operated, and receives various requests and data from the control panel 100. These exchanges between the server 210 and the control panel 100 are performed via the controller 150 corresponding to the control panel 100. The server 210 is also connected to each of the individual servers 310 of the multiple robot clouds 300 via a network.

[0019] Each of the robot clouds 300a, 300b, 300c, etc. is a computer system located on a cloud, including servers 310a, 310b, 310c, etc. Each of the robot clouds 300 may include one or more computers having physical components such as a CPU, ROM, and RAM.

[0020] Each of these robot clouds 300 manages and controls at least one robot 500. These robots 500 are grouped, for example, by different model, and one robot cloud 300 is assigned to each different model.

[0021] The server 310 receives various requests and various data from the server 210 of the elevator cloud 200. The server 310 is connected to the corresponding robot 500 in the building 3 via a network, and transmits various instructions to the robot 500. When the server 310 moves the robot 500 to a different floor, the server 310 calls the server 210 of the elevator cloud 200 to have the robot 500 use an elevator.

[0022] The calls made by server 310 to server 210 include platform calls and destination floor calls. A platform call is an operation for calling a car 50 at a platform 60 on a specific floor, and in the case of a general user, the platform call is made by, for example, using a platform call button (not shown) provided at the platform 60. A destination floor call is an operation for directing the car 50 carrying the robot 500 to the desired floor, and in the case of a general user, the destination floor call is made by, for example, using a destination floor call button (not shown) provided in the car 50.

[0023] In this way, in the elevator / robot collaboration system 1, the servers 210, 310 provided in the elevator cloud 200 and the robot cloud 300, respectively, are connected via a network, making it possible to control the elevator system 2 and the robot 500 in collaboration with each other.

[0024] The elevator / robot cooperation system 1 is an example of an elevator autonomous mobile object cooperation system that cooperates with a robot 500 as an autonomous mobile object. The server 310 in the robot cloud 300 is an example of a first server that manages the robot 500, and the server 210 in the elevator cloud 200 is an example of a second server that manages the elevator.

[0025] The robot 500 as an autonomous mobile body moves autonomously within the building 3 while receiving instructions from the server 310 of the corresponding robot cloud 300 among the multiple robot clouds 300, and performs various tasks within the building 3, such as deliveries or cleaning.

[0026] (Example of the components of an elevator / robot collaboration system) Next, detailed configuration examples of the elevator system 2, the server 310 in the robot cloud 300, and the robot 500 included in the elevator / robot cooperation system 1 will be described with reference to FIGS.

[0027] FIG. 2 is a schematic diagram showing an example of a detailed configuration of the elevator system 2 according to the embodiment.

[0028] As shown in Figure 2, the elevator system 2 includes a car 50 (50a, 50b), a rope 6 (6a, 6b), a counterweight 7 (7a, 7b) attached to the rope 6, and a hoist 8 (8a, 8b) for hoisting the rope 6, located within the hoistway 30 (see Figure 1).

[0029] Each car 50 is connected to a counterweight 7 via a rope 6. The rope 6 is fed by the drive of a hoist 8, causing the car 50 to ascend and descend within the hoistway 30 while balancing with the counterweight 7. Doors 53 (53a, 53b) are provided on the front of each car 50, i.e., on the boarding / alighting side of the car 50.

[0030] The control panel 100a included in the elevator control system 2B and operating the car 50a includes a control unit 101a, a transmission / reception unit 102a, and a storage unit 104a. The control panel 100b operating the car 50b also includes components corresponding to these. The following description will be given taking the components of the control panel 100a as an example.

[0031] The control unit 101a is a hardware processor such as a CPU. The control unit 101a reads and executes a control program from the storage unit 104a to control the operation of the car 50a and cooperate with the robot 500. Cooperation between the control panel 100a and the robot 500 is performed, for example, via the controller 150a, the elevator cloud 200, and the above-mentioned robot cloud 300 (see FIG. 1).

[0032] The transmitting / receiving unit 102a is made up of a communication device having a predetermined communication protocol, and performs processing for transmitting and receiving information between the control panel 100a and the controller 150a.

[0033] The storage unit 104a is a storage medium (memory device) such as a ROM or a RAM, etc. The storage unit 104a stores control parameters, control programs, etc. used for various functions of the control panel 100a.

[0034] The controller 150a included in the elevator control system 2B and corresponding to the control panel 100a includes a control unit 151a, a transmission / reception unit 152a, and a storage unit 154a. The controller 150b corresponding to the control panel 100b also includes the corresponding components. The following description will be given taking the components of the controller 150a as an example.

[0035] The control unit 151a is a hardware processor such as a CPU, and mainly controls the operation of the transmission / reception unit 152a.

[0036] The transmitter / receiver 152a is made up of a communication device having a predetermined communication protocol, and performs communication processing between the control panel 100a and the controller 150a, and communication processing between the controller 150a and the server 210 in the elevator cloud 200. For example, when the transmitter / receiver 152a receives an operation signal transmitted from the control panel 100a, it transmits the operation signal to the server 210 in the elevator cloud 200.

[0037] The storage unit 154a is a storage medium such as a ROM or a RAM, etc. The storage unit 154a stores control parameters, control programs, etc. used for various functions of the controller 150a.

[0038] As described above, the elevator cloud 200 included in the elevator control system 2B includes the server 210. The server 210 includes a control unit 211, transmission / reception units 212 (212a, 212b, 212c, . . .), 213, and a storage unit 214.

[0039] The control unit 211 is a hardware processor such as a CPU. The control unit 211 reads and executes a control program or the like from the storage unit 214, thereby performing overall management of the elevator system 2 and coordinating with the server 310 in the robot cloud 300.

[0040] As an example of such cooperation, the control unit 211 receives a call from the server 310 in the robot cloud 300 to have the robot 500 use an elevator. The call is then transmitted from the control unit 211 to the corresponding control panel 100 via one of the controllers 150, and a response is made by the target car 50 under the control of the control panel 100.

[0041] Furthermore, as another example of the above-described cooperation, when the control unit 211 receives a signal from the server 310 in the robot cloud 300 indicating that the robot 500 has failed to get on or off the car 50, the control unit 211 instructs the control panel 100 corresponding to the car 50 to cause the car 50 to perform an operation to restore the robot 500. Details of the restoration operation of the robot 500 by the car 50 will be described later.

[0042] Each of the transmission / reception units 212 (212a, 212b, 212c, . . .) is made up of a communication device having a predetermined communication protocol, and performs communication processing between the server 210 and the servers 310 in each robot cloud 300.

[0043] The transmitting / receiving unit 212a corresponds to, for example, the robot cloud 300a and performs communication processing with the robot cloud 300a. The transmitting / receiving unit 212b corresponds to, for example, the robot cloud 300b and performs communication processing with the robot cloud 300b. The transmitting / receiving unit 212c corresponds to, for example, the robot cloud 300c and performs communication processing with the robot cloud 300c.

[0044] In this way, by providing a transmitter / receiver 212 for each individual robot cloud 300, when there is access from a specific robot cloud 300, the elevator cloud 200 can determine which robot cloud 300 the access is from.

[0045] The transmitting / receiving unit 213 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the server 210 and each controller 150 .

[0046] The storage units 214 and 215 are storage media (memory devices) such as ROM or RAM.

[0047] The storage unit 214 stores different robot information 224 (224a, 224b, 224c, etc.) for each model of the robot 500 managed by each robot cloud 300. The robot information 224 includes information on various specifications of the robot 500, such as the wheel diameter, wheel width, and body weight, which differ for each model.

[0048] The robot information 224a is, for example, information on the robot 500 managed by the robot cloud 300a, the robot information 224b is, for example, information on the robot 500 managed by the robot cloud 300b, and the robot information 224c is, for example, information on the robot 500 managed by the robot cloud 300c.

[0049] The storage unit 215 stores recovery information 225 (225a, 225b, 225c, etc.) relating to recovery operations previously performed by the elevator control system 2B when the robot 500 was successfully recovered. Each piece of recovery information 225 is linked to robot information 224 relating to the robot 500 to be recovered, and includes detailed information about the recovery operation performed at that time.

[0050] In addition, at least one of the storage units 214 and 215 stores control parameters, control programs, and the like used for various functions of the server 210. However, the storage units 214 and 215 do not have to be provided separately, and the robot information 224 and the recovery information 225 may be stored in a single storage unit.

[0051] The robot information 224 relating to the structure of the robot 500 is an example of first information, and the recovery information 225 relating to the recovery operation of the robot 500 by the control panel 100 is an example of second information.

[0052] 3 is a block diagram showing an example of a detailed configuration of a server 310 in a robot cloud 300 according to an embodiment. Fig. 3 shows the basic configuration of the robot cloud 300, and each individual robot cloud 300 may have the configuration shown in Fig. 3.

[0053] As shown in FIG. 3, the server 310 in the robot cloud 300 includes a control unit 311, a transmission / reception unit 312, and a storage unit 314.

[0054] The control unit 311 is a hardware processor such as a CPU. The control unit 311 controls various processes related to the corresponding robot 500 and various processes related to cooperation with the elevator system 2. More specifically, the control unit 311 comprehensively manages and controls the robot 500, causing the robot 500 to move autonomously within the building 3 and perform tasks such as delivery or cleaning.

[0055] The movement of the robot 500 within the building 3 also includes movement between different floors using the elevator car 50 of the elevator system 2. When it becomes necessary for the robot 500 to move between different floors, the control unit 311 moves the robot 500 to the landing 60 of the current floor and transmits a landing call to the server 210 in the elevator cloud 200.

[0056] When the car 50 that responded to the platform call arrives at the platform 60 where the robot 500 is waiting, the robot 500 moves autonomously and gets on the car 50. The control unit 211 further transmits a destination floor call to the server 210 in the elevator cloud 200 in order to move the car 50 with the robot 500 on board to the desired floor.

[0057] The transmitting / receiving unit 312 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the server 310 and the server 210 in the elevator cloud 200 , and communication processing between the server 310 and the robot 500 .

[0058] The storage unit 314 is a storage medium (memory device) such as a ROM or a RAM, etc. The storage unit 314 stores control parameters, control programs, etc. used for various functions of the server 310.

[0059] Fig. 4 is a schematic diagram showing an example of a detailed configuration of a robot 500 according to an embodiment. Fig. 4 shows the basic configuration of the robot 500, and each individual robot 500 may have the configuration shown in Fig. 4.

[0060] As shown in FIG. 4, the robot 500 includes a control unit 501, a transmitting / receiving unit 502, a driving unit 503, a memory unit 504, and various sensors 505.

[0061] The control unit 501 is a hardware processor such as a CPU. The control unit 501 reads and executes a control program, etc., stored in the storage unit 504, thereby performing various operations within the building 3. At this time, the control unit 501 follows instructions from the server 310 in the robot cloud 300 and receives feedback from various sensors 505 to perform various operations.

[0062] The transmitting / receiving unit 502 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the robot 500 and the server 310 in the robot cloud 300 .

[0063] The driving unit 503 is a mechanism including wheels and the like, and the driving unit 503 drives the robot 500 to move. Note that the driving unit 503 is not limited to those listed above.

[0064] The storage unit 504 is a storage medium (memory device) such as a ROM or a RAM, etc. The storage unit 504 stores control parameters, control programs, etc. used for various functions of the robot 500.

[0065] The various sensors 505 are configured to be able to detect the state of the robot 500 itself and the surrounding conditions, and may include, for example, at least one of an infrared sensor, an acceleration sensor, a camera, etc. Note that the various sensors 505 are not limited to those listed above.

[0066] (Coordinated operation in elevator / robot cooperation system) Next, the cooperative operation between the elevator system 2 and the robot 500 in the elevator / robot cooperative system 1 according to the embodiment will be described with reference to Fig. 5 to Fig. 12. Fig. 5 to Fig. 12 are schematic diagrams illustrating the cooperative operation between the elevator system 2 and the robot 500 in the elevator / robot cooperative system 1 according to the embodiment in order.

[0067] 5 to 9 show the cooperative operation between the elevator system 2 and the robot 500 when the robot 500 gets on the car 50. Also, FIGS. 10 to 12 show the cooperative operation between the elevator system 2 and the robot 500 when the robot 500 gets off the car 50.

[0068] 5 to 12(a) show the state of the car 50 that has landed at a predetermined landing 60. FIGS. 5 to 12(b) are views of the floor 51 of the car 50 and the floor 61 of the landing 60 as viewed from above. FIGS. 5 to 12(b) are cross-sectional views of the floor 51 of the car 50 and the floor 61 of the landing 60 as viewed from the side.

[0069] When it becomes necessary to move the robot 500 to another floor in the building 3, the server 310 in the robot cloud 300 moves the robot 500 to the landing 60 on the current floor and sends a landing call to the server 210 in the elevator cloud 200.

[0070] The platform call information transmitted from the server 310 is further transmitted from the server 210 in the elevator cloud 200 to the control panel 100 via the controller 150. At this time, if the elevator system 2 has a plurality of cars 50, the server 210 in the elevator cloud 200 assigns an appropriate car 50 based on the operation status of each car 50, and transmits the platform call information to the control panel 100 that controls that car 50.

[0071] When receiving the platform call information transmitted from the server 310, the control panel 100 causes the car 50 to respond to the platform call. That is, the control panel 100 causes the car 50 to head to the platform 60 at the floor where the robot 500 is waiting to board the car 50.

[0072] As shown in Figure 5(a), when the car 50 arrives at the platform 60 of the floor where the robot 500 is waiting to board, the control panel 100 opens the door of the car 50. In conjunction with this, the door 63 of the platform 60 is also opened. As a result, the door 53 of the car 50 and the door 63 of the platform 60 are opened, and the robot 500 is ready to board the car 50.

[0073] As shown in Fig. 5(c), when the car 50 lands at the landing 60, the car 50 is controlled so that there is no step between the floor 51 of the car 50 and the floor 61 of the landing 60. As a result, the car 50 stops at a height position where the heights of these floors 51, 61 are approximately equal.

[0074] As shown in Figures 5(b) and 5(c), a predetermined gap RC exists between the floor 51 of the car 50 that has landed at the landing 60 and the floor 61 of the landing 60. This makes it possible to suppress interference between the car 50 and the floor 61 of the landing 60 when the car 50 is running. Such a gap RC is also called a running clearance.

[0075] The robot 500 starts to board the car 50 when the door 53 of the car 50 and the door 63 of the landing 60 are opened.

[0076] As shown in FIG. 6(a), it is assumed that the wheel 513 provided on the drive unit 503 (see FIG. 4) of the robot 500 has come off due to a gap RC between the floor 51 of the car 50 and the floor 61 of the platform 60.

[0077] 6(b) and 6(c), the robot 500 becomes derailed when, for example, the wheel 513 gets caught on the edge of the floor 51 of the car 50. The wheel 513 caught on the edge of the floor 51 of the car 50 may cross the traveling direction of the robot 500 and may face in the direction of the gap RC between the floor 51 of the car 50 and the floor 61 of the platform 60, causing the wheel to get stuck in the gap RC and become derailed.

[0078] If the wheel 513 gets stuck in the gap RC deeper than a predetermined amount, it may be difficult for the robot 500 to autonomously recover from the state where the wheel has derailed. In this case, the robot 500 transmits a signal to the server 310 in the robot cloud 300 indicating that the robot 500 has failed to board the car 50. The server 310 transmits a signal from the robot 500 indicating that the robot 500 has failed to board the car 50 to the server 210 in the elevator cloud 200.

[0079] When the server 210 in the elevator cloud 200 receives the boarding failure signal, it refers to the robot information 224 stored in the memory unit 214 and acquires information about various specifications of the robot 500 to be restored. Which of the multiple pieces of robot information 224a, 224b, 224c, etc. to refer to can be determined based on which of the multiple robot clouds 300a, 300b, 300c, etc. was currently responding to a call from the robot cloud 300.

[0080] Furthermore, the server 210 searches for information on recovery operations under similar circumstances by referring to the recovery information 225 stored in the storage unit 215. Hereinafter, a case where the corresponding recovery information 225 does not exist in the storage unit 215 will be described, and an example where the corresponding recovery information 225 exists will be described later.

[0081] The server 210 in the elevator cloud 200 instructs the control panel 100 via the controller 150 to perform an operation to restore the robot 500 from running off the wheels.

[0082] As shown in FIG. 7(a), upon receiving an instruction from the server 210, the control panel 100 moves the elevator car 50 a small distance, creating a slight step between the floor 51 of the elevator car 50 and the floor 61 of the platform 60.

[0083] At this time, the instruction from the server 210 includes an instruction as to how many steps should be created, that is, an instruction as to the travel distance of the car 50. The travel distance of the car 50 can be specified as, for example, the distance (wire stretch distance) of the rope 6 (see FIG. 2) wound up by the hoist 8 (see FIG. 2) that moves the car 50.

[0084] The server 210 determines the size of the step to be created based on the diameter and width of the wheels 513 of the robot 500 to be restored, which are acquired from the robot information 224 in the storage unit 214, for example.

[0085] That is, if the robot 500 has a large wheel diameter, the ascending and descending distance of the car 50 can be increased accordingly, and if the robot 500 has a small wheel diameter, the ascending and descending distance of the car 50 can be decreased accordingly.

[0086] As a result, even if the robot 500 has a large wheel diameter, the car 50 can be moved a sufficient distance, making it easier for the wheel 513 caught in the gap RC to come out. On the other hand, in the case of the robot 500 with a small wheel diameter, the car 50 does not need to be moved an unintentionally long distance, and the impact on users and the like can be further reduced.

[0087] At this time, the instruction from the server 210 also includes an instruction as to whether to move the car 50 up or down. If it is assumed that the wheels have come off when the robot 500 gets on the car 50, the control panel 100, in response to the instruction from the server 210, lowers the car 50 by a specified small distance.

[0088] As shown in Figure 7(c), this causes the height position of the floor 51 of the car 50 to be slightly lower than the floor 61 of the landing 60, and as the floor 51 of the car 50 moves downward, the gap RC between the floor 51 of the car 50 and the floor 61 of the landing 60 also moves downward.

[0089] However, the distance that the car 50 descends is extremely small, and the step that occurs between the floor 51 of the car 50 and the floor 61 of the landing 60 is also extremely small. Therefore, such behavior of the car 50 does not affect the getting on and off of the car 50 by elevator users.

[0090] 8, by moving the car 50 as described above, the gap RC between the floor 51 of the car 50 and the floor 61 of the landing 60 moves downward, and the wheels 513 that were facing in the direction along the gap RC can be turned toward the floor 51 of the car 50, which is the original traveling direction of the robot 500. As a result, the wheels 513 of the robot 500 move out of the gap RC between the floor 51 of the car 50 and the floor 61 of the landing 60, and the robot 500 that has run off the tracks can be recovered.

[0091] It should be noted that when the wheel 513 of the robot 500 is deeply embedded in the gap RC, it may be that the wheel 513 cannot be removed from the gap RC by a single downward movement of the car 50. For this reason, the control panel 100 may repeat the up and down movement of the car 50 multiple times. This makes it even easier for the wheel 513 to be removed from the gap RC.

[0092] In this case, the recovery operation instruction from the server 210 may include in advance an instruction as to how many times to repeat the up and down movement of the car 50. The server 210 can determine the number of times to move the car 50 up and down based on the weight of the robot 500 to be recovered, which is acquired from the robot information 224 in the memory unit 214, for example.

[0093] That is, in the case of a heavy robot 500, the robot 500 is more likely to get stuck deeper in the gap RC, and by increasing the number of times that the car 50 is moved up and down, the robot 500 can be more easily recovered. On the other hand, in the case of a light robot 500, it is considered that the robot 500 can be easily recovered even if the number of times that the car 50 is moved up and down is reduced, and by reducing the number of times that the car 50 is inadvertently moved up and down, the impact on users and the like can be further suppressed.

[0094] 9, after recovery from the wheel slippage, the robot 500 ends its ride in the car 50. At this time, the robot 500 may transmit a signal indicating that the ride in the car 50 has been completed to the server 310 in the robot cloud 300. The server 310 may further transmit a ride completion signal from the robot 500 to the server 210 in the elevator cloud 200.

[0095] When it becomes necessary to move the robot 500 to another floor in the building 3, the server 310 in the robot cloud 300 sends a destination floor call to the server 210 in the elevator cloud 200 for the elevator 50 in which the robot 500 is riding, in order to move the robot 500 that has boarded the elevator 50 to the desired floor.

[0096] The destination floor call information transmitted from the server 310 is further transmitted from the server 210 in the elevator cloud 200 to the control panel 100 via the controller 150 of the corresponding elevator car 50 .

[0097] When receiving the destination floor call information transmitted from the server 310, the control panel 100 causes the elevator car 50 carrying the robot 500 to respond to the destination floor call. In other words, the control panel 100 causes the elevator car 50 to head to the floor specified by the destination floor call.

[0098] As shown in Fig. 10, when the car 50 carrying the robot 500 arrives at the boarding point 60 at the designated floor, the control panel 100 opens the door of the car 50. In conjunction with this, the door 63 of the boarding point 60 is also opened. As a result, the door 53 of the car 50 and the door 63 of the boarding point 60 are opened, and the robot 500 is ready to disembark from the car 50.

[0099] As shown in FIG. 11( a ), it is assumed that the wheel 513 of the robot 500 has come off the ground due to a gap RC between the floor 51 of the car 50 and the floor 61 of the landing 60 .

[0100] 11(b) and 11(c), the robot 500 becomes derailed when, for example, the wheel 513 gets caught on the edge of the floor 61 of the platform 60. The wheel 513 caught on the edge of the floor 61 of the platform 60 may cross the traveling direction of the robot 500 and may face in the direction of the gap RC between the floor 51 of the car 50 and the floor 61 of the platform 60, causing the wheel to get stuck in the gap RC and become derailed.

[0101] In this case, it may be difficult for the robot 500 to autonomously recover from the state of having its wheels derailed. In this case, the robot 500 transmits a signal indicating that it has failed to disembark from the car 50 to the server 310 in the robot cloud 300. The server 310 transmits a signal indicating that the robot 500 has failed to disembark to the server 210 in the elevator cloud 200.

[0102] When the server 210 in the elevator cloud 200 receives the disembarkation failure signal, it refers to the robot information 224 stored in the storage unit 214 and acquires information relating to various specifications of the robot 500 to be restored.

[0103] Furthermore, the server 210 searches for information on recovery operations under similar circumstances by referring to the recovery information 225 stored in the storage unit 215. Hereinafter, a case where the corresponding recovery information 225 does not exist in the storage unit 215 will be described, and an example where the corresponding recovery information 225 exists will be described later.

[0104] The server 210 in the elevator cloud 200 instructs the control panel 100 via the controller 150 to perform an operation to restore the robot 500 from running off the wheels.

[0105] As shown in FIG. 12(a), upon receiving an instruction from the server 210, the control panel 100 moves the elevator car 50 a small distance, creating a slight step between the floor 51 of the elevator car 50 and the floor 61 of the landing 60.

[0106] At this time, the instruction from the server 210 includes an instruction as to how large a step should be created, that is, an instruction as to the distance traveled by the car 50. The server 210 determines the size of the step to be created based on the diameter and width of the wheels 513 of the robot 500 to be restored, which are acquired from the robot information 224 in the storage unit 214, for example.

[0107] Also, at this time, if it is assumed that the wheels have come off when the robot 500 dismounts from the car 50, the control panel 100 will raise the car 50 by a specified small distance in response to instructions from the server 210.

[0108] As shown in Figure 12(c), this causes the height position of the floor 51 of the car 50 to be slightly higher than the floor 61 of the platform 60, and as the floor 51 of the car 50 moves upward, the wheels 513, along with the main body of the robot 500, rise from the gap RC between the floor 51 of the car 50 and the floor 61 of the platform 60.

[0109] However, the distance that the car 50 ascends is extremely small, and the step that occurs between the floor 51 of the car 50 and the floor 61 of the landing 60 is also extremely small. Therefore, such behavior of the car 50 does not affect the ability of elevator users to get on and off the car 50.

[0110] By moving the car 50 as described above, the wheels 513 of the robot 500 rise from the gap RC between the floor 51 of the car 50 and the floor 61 of the landing 60, and the wheels 513 that were facing in the direction along the gap RC can be turned toward the floor 61 of the landing 60, which is the original traveling direction of the robot 500. As a result, the wheels 513 of the robot 500 come out of the gap RC between the floor 51 of the car 50 and the floor 61 of the landing 60, and the robot 500 that has run off the tracks can be recovered.

[0111] Note that when the wheel 513 of the robot 500 is deeply stuck in the gap RC, it may be that the wheel 513 does not come out of the gap RC with a single upward movement of the car 50. For this reason, the control panel 100 may repeat the up and down movement of the car 50 multiple times. This makes it even easier for the wheel 513 to come out of the gap RC.

[0112] In this case, the recovery operation instruction from the server 210 may include in advance an instruction as to how many times to repeat the up and down movement of the car 50. The server 210 can determine the number of times to move the car 50 up and down based on the weight of the robot 500 to be recovered, which is acquired from the robot information 224 in the memory unit 214, for example.

[0113] After recovery from the wheel slippage, the robot 500 finishes disembarking from the car 50. At this time, the robot 500 may transmit a signal indicating that disembarking from the car 50 is complete to the server 310 in the robot cloud 300. The server 310 may further transmit a signal indicating that disembarking from the robot 500 is complete to the server 210 in the elevator cloud 200.

[0114] A boarding / alighting failure signal, such as a signal indicating that the robot 500 has failed to board the car 50 and a signal indicating that the robot 500 has failed to alight, is an example of a first signal. A signal indicating that the robot 500 has completed boarding the car 50 and a boarding / alighting completion signal indicating that the robot 500 has completed alighting are examples of a second signal.

[0115] In addition to the signal indicating that boarding and alighting of the car 50 has failed, the robot 500 may transmit a signal indicating that the car 50 has recovered through the above-mentioned operation to the server 310 in the robot cloud 300. The server 310 may further transmit a recovery signal from the robot 500 to the server 210 in the elevator cloud 200. This may enable the server 210 in the elevator cloud 200 to determine whether or not an additional recovery operation is required. Furthermore, the server 210 in the elevator cloud 200 may notify users of the hall 60 of the recovery of the robot 500, for example by presenting information informing the hall 60 of the recovery of the robot 500.

[0116] Incidentally, in existing elevator systems, when a step occurs between the floor of the car that has landed at the landing and the floor of the landing, there is a technology for adjusting the heights of these floors to eliminate the step. As described above, the operation of intentionally creating a step by moving the car 50 that has landed at the landing 60 a small distance and recovering the robot 500 that has run off the tracks can be easily performed by adapting such existing technology.

[0117] In addition, the server 210 in the elevator cloud 200 can determine whether the robot 500 failed to board or disembark from the elevator car 50 based on whether the call received from the server 310 in the robot cloud 300 was a platform call or a destination floor call, etc.

[0118] That is, if the robot 500 receives a boarding / alighting failure signal after responding to a hall call from the server 310 in the robot cloud 300, it can be determined that the robot 500 has failed to board the car 50. Also, if the robot 500 receives a boarding / alighting failure signal after responding to a destination floor call from the server 310 in the robot cloud 300, it can be determined that the robot 500 has failed to alight from the car 50.

[0119] Alternatively, the server 210 in the elevator cloud 200 may be able to determine whether the robot 500 has failed to board the elevator car 50 or has failed to disembark from the elevator car 50, based on whether the signal received from the robot 500 is a boarding failure signal or a disembarking failure signal.

[0120] When the server 210 in the elevator cloud 200 successfully recovers the robot 500, it links the robot information 224 related to the robot 500 that was the target of recovery and generates recovery information 225 including information on the recovery operation performed this time. The recovery information 225 is generated to include information on whether the failure occurred when getting on or off the car 50, the size of the step that was created, i.e., information on the distance traveled by the car 50, and information on the operation that caused the step, i.e., information on how many times the car 50 was moved up and down. The server 210 stores the generated recovery information 225 in the storage unit 215.

[0121] On the other hand, if the robot 500 still does not recover after continuing the recovery operation for a predetermined time, the server 210 in the elevator cloud 200 determines that the recovery of the robot 500 has failed and sends a notification to the worker requesting the recovery of the robot 500.

[0122] Next, an example will be described in which the server 210 receives a boarding failure signal or a disembarking failure signal and detects, in the storage unit 215, recovery information 225 under the same circumstances as this time.

[0123] More specifically, the server 210 refers to the recovery information 225 stored in the memory unit 215 and searches for recovery information 225 in which the robot 500 to be recovered has the same specifications as this time and the situation in which the failure occurred is the same as this time, such as when getting on or off the robot.

[0124] If the corresponding recovery information 225 exists in the memory unit 215, the server 210 instructs the control panel 100 via the controller 150 to perform the same recovery operation as indicated by the corresponding recovery information 225.

[0125] Here, the recovery information 225 includes the robot information 224 of the robot 500 that was the target of recovery at that time, and information on whether the robot 500 lost its wheels or other issues when getting on or off the vehicle, as well as information on the recovery operations performed at that time, such as the distance the elevator 50 was moved to create the step and the number of times the elevator 50 was moved up and down.

[0126] Therefore, the server 210 instructs the robot 500 to perform recovery operations, and transmits to the control panel 100 via the controller 150 instructions on the direction of movement of the elevator 50 based on whether the wheel slippage or other problem occurred when the passenger boarded or disembarked, as well as instructions on the distance the elevator 50 should move and the number of times it should be moved up and down, which are obtained from the recovery information 225.

[0127] In accordance with these instructions from the server 210, the control panel 100 moves the elevator car 50 in the direction and by the distance instructed by the server 210 to create a step, and also causes the elevator car 50 to repeat these actions the number of times instructed by the server 210.

[0128] In this way, by applying the same recovery operation as that executed under similar circumstances in the past, the robot 500 can be recovered more reliably and more quickly.

[0129] Note that the application of past recovery operations by referring to the recovery information 225 may be applied to the same car 50, or may be applied to different cars 50 in the same building 3 (see FIG. 1). In this way, knowledge gained from past cases can be applied horizontally to multiple cars 50 managed by the server 210 in the elevator cloud 200 in response to failures of the robot 500 to board or disembark, which may occur at various times.

[0130] (Example of processing in an elevator / robot collaboration system) Next, a processing example by the elevator system 2 according to the embodiment will be described with reference to Fig. 13. Fig. 13 is a flow chart showing an example of a procedure of recovery processing for the robot 500 by the elevator system 2 according to the embodiment.

[0131] 13, the server 210 in the elevator cloud 200 receives a call such as a hall call or a destination floor call from the server 310 in the robot cloud 300 (step S101). The server 210 in the elevator cloud 200 gives an instruction to the control panel 100 via the controller 150, and the control panel 100 causes the elevator car 50 to respond to the call (step S102).

[0132] While the robot 500 is boarding or alighting from the elevator car 50 that responded to the call, the server 210 in the elevator cloud 200 monitors whether or not a boarding or alighting failure signal, such as a boarding failure signal or alighting failure signal, sent from the robot 500 is received via the server 310 in the robot cloud 300 (step S103).

[0133] If a boarding / alighting failure signal is received from the robot 500 (step S103: Yes), the server 210 in the elevator cloud 200 determines whether the boarding / alighting failure of the robot 500 occurred when boarding or alighting from the elevator car 500 (step S104).

[0134] If the robot 500 has failed to board the elevator car 50 (step S104: Yes), the server 210 searches whether recovery information 225 under a similar situation is stored in the memory unit 215 (step S105).

[0135] If there is corresponding recovery information 225 (step S105: Yes), the server 210 reads out the recovery information 225 (step S106) and issues a recovery instruction to the control panel 100 via the controller 150 along with an instruction to carry out recovery operations included in the recovery information, such as the distance the car 50 needs to move to create the step and the number of times the step is to be created. In this case, since boarding the car 50 has failed, the car 50 is lowered in accordance with the read recovery information 225 (step S107).

[0136] If there is no corresponding recovery information 225 (step S105: No), the server 210 skips the processing of step S106 and instructs the control panel 100 via the controller 150, and the control panel 100 lowers the elevator car 50 by a small distance (step S107).

[0137] Even if the robot 500 fails to disembark from the elevator car 50 (step S104: No), the server 210 searches whether recovery information 225 under a similar situation is stored in the memory unit 215 (step S115).

[0138] If there is corresponding recovery information 225 (step S115: Yes), the server 210 reads out the recovery information 225 (step S116) and issues a recovery instruction to the control panel 100 via the controller 150 along with an instruction to carry out recovery operations included in the recovery information, such as the distance the car 50 must travel to create the step and the number of times the step is to be created. In this case, since disembarkation from the car 50 has failed, the car 50 is raised in accordance with the read recovery information 225 (step S117).

[0139] If there is no corresponding recovery information 225 (step S115: No), the server 210 skips the processing of step S116 and instructs the control panel 100 via the controller 150, and the control panel 100 raises the elevator car 50 by a small distance (step S117).

[0140] After performing the recovery operation of the robot 500, the server 210 determines whether or not the recovery of the robot 500 has been successful (step S108). In this case, the server 210 can determine that the recovery has been successful by, for example, receiving a recovery signal from the robot 500. Alternatively, the server 210 can determine that the recovery has failed by, for example, not receiving a recovery signal even after a predetermined time has elapsed.

[0141] If the robot 500 is successfully restored (step S108: Yes), the server 210 generates recovery information 225 including information on the recovery operation performed this time, links it to the robot information 224 regarding the robot 500 that was the target of recovery this time, and stores it in the memory unit 215 (step S109).

[0142] If the restoration of the robot 500 fails (step S108: No), the server 210 notifies the worker (step S110).

[0143] If the robot 500 does not receive a boarding / alighting failure signal while performing the boarding / alighting operation (step S103: No), the server 210 in the elevator cloud 200 skips the processing from step S104 onwards. At this time, the server 210 may receive a boarding / alighting completion signal such as a boarding completion signal or a disembarking completion signal from the robot 500.

[0144] This completes the process of recovering the robot 500 from a wheel runoff by the elevator system 2 of the embodiment.

[0145] (Overview) In recent years, robots have been developed that can move autonomously within buildings and perform various tasks such as deliveries and cleaning. In addition, technology has been proposed that allows robots to move between different floors in buildings with multiple floors using elevators.

[0146] However, when a robot uses an elevator to move, it may slip off the track due to a gap between the floor of the elevator car and the floor of the hall, causing it to fail to board or disembark. In such cases, if the robot cannot recover autonomously, workers will need to physically visit the site to deal with the problem. This increases the workload of the workers and may also hinder the smooth operation of the elevator.

[0147] According to the embodiment of the elevator / robot cooperation system 1, after the control panel 100 opens the door of the car 50 that has arrived at the landing 60 in response to a call, if the robot 500 fails to board or alight from the car 50, a step is created between the floor 51 of the car 50 and the floor 61 of the landing 60.

[0148] This makes it possible to recover the robot 500 that has come off the track when passengers get on or off the car 50. This reduces the burden on workers and enables the elevator to operate smoothly.

[0149] According to the elevator / robot collaboration system 1 of the embodiment, when the recovery of the robot 500 is successful, the server 210 in the elevator cloud 200 stores the recovery information 225 related to the recovery operation of the robot 500 by the control panel 100 in the memory unit 215, linking it to the robot information 224 related to the robot 500 to be recovered.

[0150] This allows the next time the robot 500 needs to be restored under similar circumstances to refer to the restoration information 225. This increases the success rate of restoring the robot 500.

[0151] According to the embodiment of the elevator / robot cooperation system 1, if recovery information 225 linked to robot information 224 regarding the robot 500 that failed to board or disembark the car 50 is stored in the memory unit 215, the server 210 in the elevator cloud 200 causes the control panel 100 to perform recovery operation based on the recovery information 225.

[0152] This makes it possible to reproduce recovery operations that have been proven to have been successful in recovering the robot 500 in the past, and to recover the robot 500 quickly and reliably without having to resort to trial and error in recovering the robot 500.

[0153] According to the embodiment of the elevator / robot cooperation system 1, if the robot 500 fails to board the car 50, the control panel 100 lowers the car 50 a small distance, creating a step between the floor 51 of the car 50 and the floor 61 of the landing 60.

[0154] This allows the height of the floor 51 of the car 50 on the side in the traveling direction of the robot 500 to be lower than the floor 61 of the landing 60 behind the traveling direction of the robot 500. Therefore, the wheels of the robot 500 that have become stuck in the gap RC between the floors 51, 61 become more easily disengaged, making it easier to recover the robot 500.

[0155] Furthermore, as described above, the operation of lowering the car 50 that has landed at the landing 60 by a small distance can be easily performed by adapting the technology used to eliminate the step that occurs between the floor 51 of the car 50 and the floor 61 of the landing 60. Because the distance that the car 50 is lowered is small, it does not affect other users getting on and off the car 50.

[0156] According to the embodiment of the elevator / robot cooperation system 1, if the robot 500 fails to disembark from the car 50, the control panel 100 raises the car 50 by a small distance, creating a step between the floor 51 of the car 50 and the floor 61 of the landing 60.

[0157] This allows the height of the floor 51 of the car 50 at the rear of the direction of travel of the robot 500 to be higher than the floor 61 of the platform 60 on the side of the direction of travel of the robot 500. Therefore, the wheels of the robot 500 that have become stuck in the gap RC between the floors 51, 61 can be easily removed, making it easier to recover the robot 500.

[0158] Furthermore, as described above, the operation of raising the car 50 that has landed at the landing 60 by a small distance can be easily performed by adapting the technology used to eliminate the step that occurs between the floor 51 of the car 50 and the floor 61 of the landing 60. Because the distance that the car 50 rises is small, it does not affect other users getting on and off the car 50.

[0159] According to the elevator / robot cooperation system 1 of the embodiment, the recovery information 225 includes information on whether the recovery operation was performed when the robot 500 got on or off the car 50. This allows more appropriate recovery information 225 to be read out and used for the recovery operation of the robot 500.

[0160] According to the embodiment of the elevator / robot cooperation system 1, the recovery information 225 is linked to at least one of the information on the diameter or width of the wheels of the robot 500 included in the robot information 224, and includes information on the size of the step that occurred between the floor 51 of the car 50 and the floor 61 of the landing 60 during the recovery operation.

[0161] The size of the step suitable for the recovery of the robot 500 depends on, for example, the wheel diameter and wheel width of the robot 500. Therefore, by including information on the size of the step in the recovery information 225 in association with the wheel diameter and wheel width included in the robot information 224, it is possible to create a step of a more appropriate size during the next recovery operation.

[0162] According to the elevator / robot cooperation system 1 of the embodiment, when the robot 500 fails to get on or off the car 50, the control panel 100 performs a process of moving the car 50 up and down a small distance a predetermined number of times to create a step between the floor 51 of the car 50 and the floor 61 of the landing 60. In this way, by repeating the up and down movement of the car 50 one or more times, it becomes even easier to restore the robot 500.

[0163] According to the embodiment of the elevator / robot cooperation system 1, the recovery information 225 is linked to the weight information of the robot 500 contained in the robot information 224, and includes information on the number of times a step was created between the floor 51 of the car 50 and the floor 61 of the landing 60 during the recovery operation.

[0164] The depth to which the wheels or the like get stuck in the gap RC between the floor 51 of the car 50 and the floor 61 of the platform 60 depends on the weight of the robot 500, and it is thought that the greater the depth to which the wheels or the like get stuck, the higher the probability of successfully recovering the robot 500 by increasing the number of times the car 50 is moved up and down. Therefore, by including information on the number of times steps have been created in the recovery information 225 in association with the weight of the robot 500 included in the robot information 224, it is possible to create a more appropriate number of steps during the next recovery operation.

[0165] In the above embodiment, the robot 500 that has failed to get on or off the car 50 transmits a signal indicating the failure, and the control panel 100 of the elevator system 2 causes the car 50 to perform an operation to restore the robot 500. However, the elevator system 2 may determine that the robot 500 has failed to get on or off the car 50 by a method other than the above.

[0166] For example, when boarding and alighting from the elevator 50 is completed, as described above, the robot 500 transmits a signal indicating that boarding and alighting is complete. If the elevator 50 responds to a call from the server 310 in the robot cloud 300 and opens its door at the platform 60, and a boarding completion signal is not received from the robot 500 even after a predetermined time has passed, the control panel 100 may cause the elevator 50 to perform an operation to restore the robot 500.

[0167] Even with this configuration, it is possible to detect that an abnormality has occurred in the robot 500 when passengers get on or off the car, and the above-mentioned recovery operation can be performed in the car 50 to recover the robot 500.

[0168] Furthermore, in the above-described embodiment, the explanation has been given on the assumption that both the robot 500 and the user use the same car 50. However, the elevator system 2 may be provided with a car 50 dedicated to the robot 500, separate from the car 50 used by the user.

[0169] Even in such a configuration, if the robot 500 derails from the car 50 for the robot 500, the same recovery operation as described above can be performed to recover the robot 500. As described above, the recovery operation can be performed safely not only for the user but also for the robot 500.

[0170] Furthermore, in the above-described embodiment, the recovery information 225 is linked to the robot information 224, and thus includes information on the structure of the robot 500 to be restored, as well as information on when the robot 500 derailed or otherwise slipped off the tracks when boarding or disembarking, as well as information on the distance the car 50 was moved to create a step and the number of times the step was created. However, the recovery information 225 may include information other than the above. As an example, the recovery information 225 may include at least one of information on the date, time zone, weather, or temperature when the robot 500 derailed or otherwise slipped off the tracks.

[0171] From the information on the date and time when the robot 500 derailed, etc., it is possible to know the degree of congestion in the car 50 and the platform 60 at that time, as well as the number of robots 500 in operation, etc. Furthermore, from the information on the weather and temperature when the robot 500 derailed, etc., it is possible to know the slipperiness of the wheels of the robot 500, etc.

[0172] Therefore, by including the above information in the recovery information 225, the situation when the robot 500 runs off the track or the like can be categorized in more detail, and the success rate of recovery can be further increased.

[0173] (Variation 1) Next, an elevator / robot cooperation system according to Modification 1 of the embodiment will be described with reference to Fig. 14. The elevator / robot cooperation system according to Modification 1 differs from the above-described embodiment in that the server 210 in the elevator cloud 200 applies the recovery information 225 to the control of the car 50 without waiting for a boarding / alighting failure signal from the robot 500.

[0174] 14 is a flowchart showing an example of a procedure of processing by the elevator system according to the first modified example of the embodiment. The following description will be given by adding the same configuration to the configuration corresponding to the above-described embodiment.

[0175] As shown in FIG. 14, when a call such as a hall call or a destination floor call is received from the server 310 in the robot cloud 300 (step S201), the server 210 in the elevator cloud 200 instructs the control panel 100 to respond to the call via the controller 150 (step S202).

[0176] In addition, in the first modification, the server 210 in the elevator cloud 200 determines whether the call from the server 310 in the robot cloud 300 is a hall call or a destination floor call (step S204).

[0177] If the call from the server 310 is a platform call and the robot 500 is trying to board the elevator car 50 (step S204: Yes), the server 210 in the elevator cloud 200 searches to see if there is recovery information 225 regarding a case in which the same type of robot 500 failed to board the elevator car 50 (step S205).

[0178] If there is corresponding recovery information 225 (step S205: Yes), the server 210 reads out the recovery information 225 (step S206) and instructs the control panel 100 to make the elevator car 50 land at the designated floor with the size of the step in the recovery operation at that time. As a result, the elevator car 50 stops at the landing 60 of the designated floor so that the floor 51 is positioned lower than the floor 61 of the landing 60 from the beginning (step S207).

[0179] If a recovery operation has been performed under similar circumstances in the past, there is a possibility that the robot 500 may also derail when responding to the current hall call, requiring a recovery operation. Therefore, in the elevator system of Modification 1, before the robot 500 starts boarding the car 50 and a derailment or other problem occurs, the car 50 is stopped at a position where a step occurs between the floor 51 of the car 50 and the floor 61 of the hall 60 based on the recovery information 225 read in advance. This makes it possible to prevent the robot 500 from derailing or other problems from occurring in the first place.

[0180] If there is no corresponding recovery information 225 (step S205: No), the server 210 skips the processing from step S206 onwards.

[0181] If the call from the server 310 is a destination floor call and the robot 500 is trying to get off the car 50 (step S204: No), the server 210 in the elevator cloud 200 searches to see if there is recovery information 225 related to a case in which the same type of robot 500 failed to get off the car 50 (step S215).

[0182] If there is corresponding recovery information 225 (step S215: Yes), the server 210 reads out the recovery information 225 (step S216) and instructs the control panel 100 to make the elevator car 50 land at the designated floor with the size of the step in the recovery operation at that time. As a result, the elevator car 50 stops at the landing 60 of the designated floor from the beginning so that the floor 51 is positioned higher than the floor 61 of the landing 60 (step S217).

[0183] In this way, even when disembarking, by stopping the elevator 50 at the designated floor with a step in advance, it is possible to prevent the robot 500 from slipping off the wheels, etc.

[0184] If there is no corresponding recovery information 225 (step S215: No), the server 210 skips the processing from step S216 onwards.

[0185] This completes the processing by the elevator system of the first modification.

[0186] According to the elevator / robot collaboration system of variant example 1, when the server 210 in the elevator cloud 200 receives a call from the server 310 in the robot cloud 300, if recovery information 225 linked to robot information 224 regarding the robot 500 that failed to board or alight from the car 50 is stored in the memory unit 215, when the car 50 responds to the call, it lands the car 50 at the responding floor so that a step of a size (height difference) and direction (height relationship between the floor 51 of the car 50 and the floor 61 of the landing 60) based on the recovery information 225 is created.

[0187] This makes it possible to prevent the robot 500 from coming off the wheels when passengers get on and off the car 50. Therefore, it is possible to prevent the operation of the car 50 from being interrupted for a certain period of time due to a recovery operation or the like.

[0188] The elevator / robot cooperation system of the first modification provides other effects similar to those of the elevator / robot cooperation system 1 of the above-described embodiment.

[0189] (Variation 2) Next, an elevator / robot cooperation system according to Modification 2 of the embodiment will be described with reference to Fig. 15. The elevator / robot cooperation system according to Modification 2 differs from the above-described embodiment in that the server 210 in the elevator cloud 200 generates recovery information and stores it in the storage unit 215 even when recovery of the robot 500 fails.

[0190] 15 is a flowchart showing an example of a procedure for a process of recovering a wheel from being run off by the robot 500 in the elevator system according to the second modified example of the embodiment. The following description will be given by adding the same configuration to the configuration corresponding to the above-described embodiment.

[0191] As shown in Fig. 15, in the elevator system of the second modification, the recovery process of the robot 500 is performed in substantially the same manner as the float of the above-described embodiment shown in Fig. 13. However, in the second modification, when the robot 500 fails to get on or off the car 50, the server 210 in the elevator cloud 200 appropriately searches for recovery information relating to cases where recovery failed and recovery information relating to cases where recovery was successful from among a plurality of pieces of recovery information.

[0192] That is, when a call such as a platform call or a destination floor call is received from the server 310 in the robot cloud 300 (step S301), and after the elevator car 50 responds to the call (step S302), a signal indicating that the robot 500 has failed to board or alight (step S303) is received, the server 210 in the elevator cloud 200 determines whether the robot 500 has failed to board or alight when boarding the elevator car 50 (step S304).

[0193] If the robot 500 fails to board the elevator car 50 (step S304: Yes), the server 210 searches the memory unit 215 to determine whether recovery information 225 relating to cases in which the robot 500 failed to recover under similar circumstances is stored (step S305a).

[0194] If there is corresponding recovery information 225 (step S305a: Yes), it is considered that there is a high possibility that recovery of the robot 500 will fail again this time. Therefore, the server 210 notifies the worker without instructing the control panel 100 to perform a recovery operation (step S310).

[0195] If there is no corresponding recovery information 225 (step S305a: No), recovery processing from step S305 onwards is carried out in the same manner as the processing from step S105 shown in FIG. 13 in the above embodiment.

[0196] If the robot 500 fails to disembark from the elevator car 50 (step S304: No), the server 210 searches the memory unit 215 to determine whether recovery information 225 relating to cases in which the robot 500 failed to recover under similar circumstances is stored (step S315a).

[0197] If there is corresponding recovery information 225 (step S315a: Yes), it is considered that there is a high possibility that recovery of the robot 500 will fail again this time. Therefore, the server 210 notifies the worker without instructing the control panel 100 to perform a recovery operation (step S310).

[0198] If there is no corresponding recovery information 225 (step S315a: No), recovery processing from step S315 onwards is carried out in the same manner as the processing from step S115 shown in FIG. 13 in the above embodiment.

[0199] After the recovery process is completed, the server 210 in the elevator cloud 200 determines whether or not the recovery of the robot 500 has been successful (step S308). If the recovery of the robot 500 has been successful (step S308: Yes), the server 210 stores the recovery information in the storage unit 215 as a success case (step S309), and if the recovery of the robot 500 has failed (step S308: No), the server 210 notifies an operator (step S310) and stores the recovery information in the storage unit 215 as a failure case (step S311).

[0200] This completes the processing by the elevator system of the second modification.

[0201] As described above, the recovery information relating to cases where recovery was successful is an example of the second information, and the recovery information relating to cases where recovery was unsuccessful is an example of the third information.

[0202] According to the elevator / robot collaboration system of variant example 2, if the server 210 in the elevator cloud 200 fails to recover the robot 500, the server 210 stores recovery information (failure case) related to the recovery operation of the robot 500 by the control panel 100 in the memory unit 215, linking it to the robot information 224 related to the robot 500 that failed to recover.

[0203] This makes it possible to quickly determine whether the robot 500 can be restored the next time the robot 500 derails under similar circumstances.

[0204] According to the elevator / robot collaboration system of variant example 2, if recovery information (failure case) linked to robot information 224 regarding the robot 500 that failed to get on or off the car 50 is stored in the memory unit 215, the server 210 in the elevator cloud 200 will notify an operator that the robot 500 has failed to get on or off the car 50 without causing the control panel 100 to perform a recovery operation.

[0205] This prevents the operator from wasting time by performing recovery operations in a situation where recovery is unlikely, and allows the operator to recover the robot 500 more quickly.

[0206] The elevator / robot cooperation system of the second modification example also provides the same effects as the elevator / robot cooperation system 1 of the above-described embodiment.

[0207] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0208] 1...Elevator / robot collaboration system, 2...Elevator system, 2B...Elevator control system, 50...Cab, 51, 61...Floor, 53, 63...Door, 60...Landing, 100...Control panel, 150...Controller, 200...Elevator cloud, 210, 310...Server, 214, 215...Memory unit, 224...Robot information, 225...Recovery information, 300...Robot cloud, 500...Robot.

Claims

1. an autonomous moving body capable of moving autonomously; a first server that manages the autonomous moving object; a second server that manages elevators and is capable of communicating with the first server; a control panel configured to be able to control the elevator car and capable of communicating with the first server via the second server; The control panel includes: When the autonomous moving body receives a call to use the elevator from the first server, the car responds to the call; After the door of the car that has arrived at the platform in response to the call is opened, if the autonomous moving body fails to get on or off the car, a step is created between the floor of the car and the floor of the platform to restore the autonomous moving body; The second server a storage unit that stores first information related to a structure of the autonomous moving body, When the autonomous moving body is successfully restored, second information related to the restoration operation of the autonomous moving body by the control panel is associated with the first information related to the autonomous moving body to be restored and stored in the storage unit. Elevator autonomous mobile unit cooperation system.

2. The second server When the autonomous moving body fails to get on or off the car, a search is performed to determine whether the second information associated with the first information regarding the autonomous moving body that failed to get on or off the car is stored in the storage unit; If the corresponding second information is stored, causing the control panel to perform a recovery operation based on the second information. The elevator autonomous mobile body cooperation system according to claim 1 .

3. The second server If the restoration of the autonomous moving body fails, third information related to the restoration operation of the autonomous moving body by the control panel is associated with the first information related to the autonomous moving body whose restoration has failed and is stored in the storage unit. The elevator autonomous mobile body cooperation system according to claim 1 .

4. The second server When the autonomous moving body fails to get on or off the car, a search is performed to determine whether or not the third information associated with the first information regarding the autonomous moving body that failed to get on or off the car is stored in the storage unit; If the corresponding third information is stored, the control panel does not perform a recovery operation, and notifies an operator that the autonomous moving body has failed to board or disembark the elevator car. The elevator autonomous mobile body cooperation system according to claim 3 .

5. The control panel includes: If the autonomous moving body fails to board the car, the car is lowered by a small distance to create a step between a floor of the car and a floor of the platform; If the autonomous moving body fails to disembark from the car, the car is raised by a small distance to create a step between a floor of the car and a floor of the platform, The second information is The information includes information as to whether the recovery operation is performed when the autonomous moving body gets on or off the elevator car. The elevator autonomous mobile body cooperation system according to claim 1 .

6. When the autonomous moving body fails to get on or off the car, the autonomous moving body derails due to a gap between the car and the platform when getting on or off the car, The first information is Dimensional information on at least one of the diameter and width of wheels of the autonomous moving body, The second information is The information is linked to the dimension information and includes information on the size of a step generated between the floor of the elevator car and the floor of the landing during the restoration operation. The elevator autonomous mobile body cooperation system according to claim 1 .

7. The second server When the call from the first server is acquired, a search is performed to determine whether the second information associated with the first information regarding the autonomous moving body that failed to get on or off the elevator car is stored in the storage unit, If the corresponding second information has been stored, when the elevator car responds to the call, the elevator car is landed at the responding floor so that a step having a size and a direction based on the second information is generated. The elevator autonomous mobile body cooperation system according to claim 6.

8. The control panel includes: If the autonomous moving body fails to get on or off the car, the car is moved up and down by a small distance, and a process of creating a step between the floor of the car and the floor of the platform is performed a predetermined number of times. The elevator autonomous mobile body cooperation system according to claim 1 .

9. When the autonomous moving body fails to get on or off the car, the autonomous moving body derails due to a gap between the car and the platform when getting on or off the car, The first information is information on the weight of the autonomous moving body, The second information is The information is linked to the weight information and includes information on the number of times a step is generated between the floor of the elevator car and the floor of the landing during the recovery operation. The elevator autonomous mobile body cooperation system according to claim 1 .

10. The second server storing, in addition to the first information, the second information including at least one of information on the date, time period, weather, and temperature when the recovery operation was performed, in the storage unit; The elevator autonomous mobile body cooperation system according to claim 1 .

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