Robot management device, robot management method, robot, and program

Abstract

To remarkably improve transport efficiency of an elevator by using a robot.SOLUTION: A robot management device is a device for managing a robot arranged on a predetermined floor of an elevator, instructs the robot to photograph the inside of a target car with a car stopped on the predetermined floor as the target car, estimates a boarding rate of the target car based on an image obtained by the photographing, and determines (A) whether or not the boarding rate reaches a target value. When the robot management device determines "not reached" in the determination (A), the robot management device instructs the robot to photograph the landing of the predetermined floor, and further determines (B) whether or not there is a user waiting for getting on the target car in the landing based on an image obtained by the photographing. Then, the robot management device commands the robot to output the guide information for urging the user at the landing to get on the target car when it is determined that the user is "at the landing" in the determination (B).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technology for providing information to elevator users using a robot. [Background technology]

[0002] Patent Document 1 discloses a technology that calculates the appropriate number of passengers for an empty car (a car with no passengers in it, including cases where the car becomes empty at a specific floor) on the assumption that passengers will board the car at a specific floor such as the lobby floor, and provides information on the number of passengers to passengers at the boarding area using a robot before the car arrives. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6611685 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technology of Patent Document 1, even if passenger numbers are provided, whether or not to actually board an arriving car is left solely to the passenger's own judgment. For this reason, passengers at the platform may hesitate to board depending on the situation inside the car when they board, and may ultimately decide not to board and wait for the next car. In this case, the car may depart from a specific floor with fewer passengers than the appropriate number. Furthermore, even if passenger numbers are provided and that number of passengers are waiting to board the car, if the car is not empty when it arrives, or if it does not become empty at all, all of the passengers who intended to board will not be able to board. If all passengers try to board despite this, the departure of the car from a specific floor will be delayed. These issues are particularly likely to occur during crowded times and can significantly hinder improvements in transportation efficiency. Therefore, simply providing passenger numbers to passengers at the platform before the car arrives, as with the technology of Patent Document 1, has limitations on improving transportation efficiency.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to significantly improve the transportation efficiency of elevators using robots. [Means for solving the problem]

[0006] A first robot management device according to the present invention is a device for managing a robot deployed on a predetermined floor of an elevator, and has the following configuration (Aspect 1). The first robot management device, taking a car stopped at a predetermined floor as a target car, instructs a robot to take an image of the interior of the target car, estimates the occupancy rate of the target car based on the image obtained by the image capture, and then makes a determination (A) as to whether the occupancy rate has reached a target value. If the robot management device determines in determination (A) that the occupancy rate has not reached a target value, it instructs the robot to take an image of the hall at the predetermined floor, and further makes a determination (B) as to whether a passenger is present at the hall waiting to board the target car based on the image obtained by the image capture. If the robot management device determines in determination (B) that the passenger is present at the hall, it instructs the robot to output guidance information to encourage the passenger at the hall to board the target car.

[0007] According to the above-mentioned aspect 1, simply by deploying a robot at a hall on a predetermined floor, it becomes possible to have the robot take photographs of both the interior of the target car and the hall, and to make the above-mentioned judgments (A) and (B) based on the images obtained by photographing. Furthermore, if the occupancy rate of the target car has not reached the target value and there are passengers at the hall waiting to board the target car, it becomes possible to have the robot provide guidance to encourage passengers at the hall to board (for example, a notification that the target car is available for boarding) until the occupancy rate reaches the target value. In this way, simply by deploying a robot at a hall on a predetermined floor, it becomes possible to operate elevators at a desired occupancy rate (target value), and as a result, it becomes possible to improve transportation efficiency.

[0008] When the robot management device according to the above-mentioned aspect 1 determines in the determination (B) that the robot is "at the landing," it may further instruct the elevator to extend the door opening time of the target car (aspect 2).

[0009] According to the above-mentioned aspect 2, it is possible to secure the time required for guidance (guidance by a robot) to encourage passengers at the boarding area to board the car, and the time required for passengers to board the car after being prompted by the guidance.

[0010] The robot management device according to the above-mentioned aspect 1 or 2 may instruct the elevator to close the door of the target car when it determines in the determination (B) that the robot is "not at the landing" (aspect 3).

[0011] According to the above-mentioned aspect 3, even if the occupancy rate of the target car has not reached the target value, when boarding at the target floor is completed, it is possible to close the doors and allow the target car to depart without waiting for the preset door opening time to elapse.

[0012] The robot management device according to any one of the above aspects 1 to 3 may have the following configuration (Aspect 4). When the robot management device determines in decision (A) that the floor has been reached, it may instruct the robot to take an image of the platform at the specified floor, and based on the image obtained by the image capture, it may further make decision (C) as to whether or not any passengers waiting to board the target car remain at the platform. When the robot management device determines in decision (C) that there are passengers remaining at the platform, it may instruct the robot to output guidance information to restrict boarding of the target car.

[0013] According to the above-mentioned aspect 4, when the occupancy rate of a target car reaches a target value and there are passengers remaining at the hall waiting to board the target car, it is possible to have the robot execute a guidance to restrict boarding into the target car (for example, a notice that no more passengers than this number can board the target car). As a result, simply by deploying a robot at the hall on a specified floor, it becomes possible to prevent incidents such as passengers trying to board the car forcibly, causing departure delays, and as a result, it becomes possible to further improve transportation efficiency.

[0014] A second robot management device according to the present invention is a device for managing a robot deployed at a specified floor of an elevator, and has the following configuration (Aspect 5). Like the first robot management device, the second robot management device makes a decision (A) after estimating the occupancy rate based on an image captured by the robot. If this robot management device determines in decision (A) that the floor has been reached, it instructs the robot to take an image of the hall at the specified floor, and further makes a decision (C) based on the image captured by the image to determine whether any passengers remain at the hall waiting to board the target car. If the robot management device determines in decision (C) that "any passengers remain at the hall," it instructs the robot to output guidance information to restrict boarding of the target car.

[0015] According to the above-mentioned aspect 5, simply by deploying a robot at a platform on a predetermined floor, it becomes possible to have the robot take photographs of both the interior of the target car and the platform, and to make the above-mentioned judgments (A) and (C) based on the images obtained by photographing. Furthermore, when the occupancy rate of the target car reaches a target value, if there are passengers remaining at the platform waiting to board the target car, it becomes possible to have the robot execute a guidance to restrict boarding into the target car (for example, a notice that any more passengers than this cannot board the target car). As a result, simply by deploying a robot at a platform on a predetermined floor, it becomes possible to reduce the occurrence of incidents such as passengers trying to board the car forcibly, causing departure delays, and as a result, it becomes possible to improve transportation efficiency.

[0016] When the robot management device according to the above-mentioned aspect 4 or 5 determines in the determination (C) that the robot "remains at the hall," it may further instruct the robot to block the entrance of the target car (aspect 6).

[0017] According to the above-mentioned aspect 6, it is possible to forcibly prohibit boarding a vehicle while ignoring the guidance from the robot.

[0018] When estimating the occupancy rate of a target car, the robot management device according to any of the above aspects 1 to 6 may instruct the robot to photograph a specified space facing the entrance within the target car, and estimate the occupancy rate using the utilization rate of the specified space calculated based on the image obtained from the photograph (Aspect 7).

[0019] According to the above-mentioned aspect 7, even if there is a passenger who is hidden behind the passenger who has boarded the target car and is not captured in the photograph taken from the platform, it is possible to estimate the occupancy rate of the target car.

[0020] When the robot management device according to the seventh aspect instructs the robot to photograph the specified space in the target car, it may further instruct the robot to output guidance information to encourage users in the target car to move to the back (aspect 8).

[0021] According to the eighth aspect, passengers in the target car can be asked to move further back, which makes it easier for the remaining free space corresponding to the actual occupancy rate in the target car to be reflected in the utilization rate of the predetermined space. Therefore, by calculating and using the utilization rate of the predetermined space from the image, it is possible to estimate the occupancy rate of the target car as close as possible to the actual occupancy rate.

[0022] The robot management device according to any one of the above aspects 1 to 8 may have the following configuration (aspect 9). The robot management device may instruct a robot to photograph a hall lantern installed at the entrance of each car at a platform on a predetermined floor, and may make a determination (D) as to whether or not the hall lantern is lit based on the image obtained by the photograph. If the robot management device determines that the hall lantern is "lit" in determination (D), it may estimate the occupancy rate of the target car by setting the car that has arrived at the entrance where the lit hall lantern is installed as the target car and make determination (A).

[0023] According to the above-mentioned aspect 9, it becomes possible to identify which car will arrive at a specific floor and provide guidance to users without a command from the elevator (in other words, autonomously). Also, it becomes possible to move the robot near the entrance of the arriving car in advance to prepare for guidance.

[0024] The robot management device according to any one of the above aspects 1 to 8 may have the following configuration (aspect 10). Each time a car arrives at a predetermined floor, the elevator may output an arrival signal indicating which car has arrived at the predetermined floor. Then, when the robot management device receives the arrival signal from the elevator, the robot management device may treat the car identified by the arrival signal as a target car and perform estimation and determination (A) of the occupancy rate of the target car.

[0025] According to the above-mentioned aspect 10, it becomes possible to provide guidance to the user in response to a command from the elevator every time the elevator car arrives at a predetermined floor.

[0026] The robot management device according to any one of the above aspects 1 to 10 may have the following configuration (Aspect 11): When the target car is scheduled to stop at another predetermined floor in response to a hall call after the predetermined floor at which it is stopped, the robot management device may use, as the target value, a second target value that is lower than the first target value, which is the default value, in decision (A) made while the target car is stopped at the first predetermined floor, and may use the first target value (default value) as the target value in decision (A) made while the target car is stopped at the second predetermined floor.

[0027] According to the above-mentioned aspect 11, even in a situation where the number of passengers boarding from the first specified floor is so large that the occupancy rate of the target car always reaches the target value (default value), by using the second target value as the target value for the occupancy rate at that specified floor, it is possible to leave space at the second specified floor so that passengers can board the target car.

[0028] When the robot management device according to the above-mentioned aspect 11 uses the second target value as the target value in the decision (A) made while the target car is stopped at the first specified floor, it may first instruct a robot deployed at the second specified floor to take a photograph of the platform at that specified floor, and based on the image obtained from the photograph, determine the number of passengers waiting to board at the second specified floor, and then determine the second target value according to that number (aspect 12).

[0029] According to the above aspect 12, it is possible to determine the second target value so as not to create unnecessary empty space in the target car (in other words, so that the empty space left at the first specified floor to allow boarding at the second specified floor does not become excessive compared to the actual number of passengers).

[0030] A first robot management method according to the present invention is a method for managing a robot deployed on a predetermined floor of an elevator, and has the following configuration (Aspect 13). In the first robot management method, a car stopped at a predetermined floor is designated as a target car, and the robot is instructed to take an image of the interior of the target car. The occupancy rate of the target car is estimated based on the image obtained by the image capture, and then a determination (A) is made as to whether or not the occupancy rate has reached a target value. If the determination (A) determines that the occupancy rate has not reached a target value, the robot is instructed to take an image of the hall at the predetermined floor, and based on the image obtained by the image capture, a further determination (B) is made as to whether or not there are passengers at the hall waiting to board the target car. Then, if the determination (B) determines that there are passengers at the hall waiting to board the target car, the robot is instructed to output guidance information to encourage passengers at the hall to board the target car.

[0031] A second robot management method according to the present invention is a method for managing a robot deployed on a specific elevator floor, and has the following configuration (Aspect 14). In the second robot management method, similar to the first robot management method, a decision (A) is made after estimating the occupancy rate based on an image captured by the robot. If it is determined in decision (A) that the target value has been reached, the robot is instructed to take an image of the hall at the specific floor, and based on the image captured, a decision (C) is further made as to whether or not any passengers waiting to board the target car remain at the hall. If it is determined in decision (C) that any passengers remain at the hall, the robot is instructed to output guidance information to restrict boarding of the target car.

[0032] A first robot according to the present invention is a robot deployed at a predetermined floor of an elevator, and has the following configuration (Aspect 15). The first robot takes an image of the interior of a car stopped at a predetermined floor as a target car, estimates the occupancy rate of the target car based on the image obtained by the image capture, and then makes a judgment (A) as to whether or not the occupancy rate has reached a target value. If the robot determines in judgment (A) that the occupancy rate has not reached a target value, it takes an image of the hall at the predetermined floor, and further makes a judgment (B) as to whether or not there are passengers at the hall waiting to board the target car based on the image obtained by the image capture. If the robot determines in judgment (B) that there are passengers at the hall waiting to board the target car, it outputs guidance information to encourage passengers at the hall to board the target car.

[0033] A second robot according to the present invention is a robot deployed at a predetermined floor of an elevator, and has the following configuration (Aspect 16). Like the first robot, the second robot makes a decision (A) after estimating the occupancy rate based on an image obtained by photographing. If the robot determines in decision (A) that the floor has been reached, it photographs the hall at the predetermined floor, and based on the photographed image, it further makes a decision (C) as to whether or not there are any passengers remaining at the hall waiting to board the target car. If the robot determines in decision (C) that there are any passengers remaining at the hall, it outputs guidance information to restrict boarding of the target car.

[0034] A first program according to the present invention causes a robot deployed at a predetermined elevator floor or a robot management device that manages the robot to execute the following process (Aspect 17). The first program executes the following process: a car stopped at a predetermined floor is designated as a target car, the robot photographs the interior of the target car, estimates the occupancy rate of the target car based on the image obtained by photographing, and then determines (A) whether the occupancy rate has reached a target value. If the program determines in determination (A) that the occupancy rate has not reached a target value, the program executes the following process: the robot photographs the hall at the predetermined floor, and further determines (B) whether a passenger is present at the hall waiting to board the target car based on the image obtained by photographing. If the program determines in determination (B) that the passenger is present at the hall, the program executes the following process: the robot outputs guidance information to encourage passengers at the hall to board the target car.

[0035] A second program according to the present invention causes a robot deployed on a predetermined elevator floor or a robot management device that manages the robot to execute the following process (Aspect 18). Like the first program, the second program causes the robot to execute a process of estimating the occupancy rate based on an image captured by the robot and then making a decision (A). If the program determines in decision (A) that the target value has been reached, the program causes the robot to take an image of the hall at the predetermined floor, and then, based on the image captured, to make a further decision (C) as to whether or not any passengers remain at the hall waiting to board the target car. If the program determines in decision (C) that "any passengers remain at the hall," the program then causes the robot to output guidance information to restrict boarding the target car. [Effects of the Invention]

[0036] According to the present invention, it is possible to significantly improve the transport efficiency of elevators. [Brief explanation of the drawings]

[0037] [Figure 1]1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. [Figure 2] 1A to 1D are conceptual diagrams illustrating examples of (A) device management data for a first operation unit, (B) device management data for a second operation unit, (C) hall call management data, and (D) car call management data used in an embodiment. [Figure 3] 1A and 1B are conceptual diagrams illustrating examples of robot management data and occupancy rate management data used in an embodiment. [Figure 4] 10 is a flowchart illustrating an allocation process executed in the embodiment. [Figure 5] 10 is a flowchart showing a guidance process executed in the embodiment. [Figure 6] FIG. 10 is a conceptual diagram illustrating a scene in which a robot takes a photograph in response to a command in the embodiment. [Figure 7] 10A and 10B are conceptual diagrams illustrating a scene in which the robot outputs guidance information in response to a command in the embodiment. [Figure 8] 10 is a flowchart showing a guidance process executed in a first modified example. [Figure 9] 10 is a flowchart showing a guidance process executed in a second modified example. [Figure 10] FIG. 10 is a conceptual diagram illustrating a scene in which a robot blocks the entrance to a car in response to a command in the second modified example. [Figure 11] 10A and 10B are conceptual diagrams illustrating a scene in which a robot takes a photograph in response to a command and a scene in which a robot outputs guidance information in a third modified example. [Figure 12] FIG. 13 is a conceptual diagram illustrating passenger load factor management data used in a sixth modified example. [Figure 13] 13 is a flowchart showing a guidance process executed in a sixth modified example. DETAILED DESCRIPTION OF THE INVENTION

[0038] [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. A first operating unit 1 is installed at the landing of each floor, allowing the user to specify a destination direction Kc. A second operating unit 2 is installed inside each car G, allowing the user to specify a destination floor Fd. In addition, in this elevator, a robot H is installed at the landing of a predetermined floor Ft selected from multiple floors to which the user can be guided (any one floor, or some or all of the floors may be the predetermined floor Ft) to provide information to the user. In addition to these components, the elevator according to this embodiment further includes a group management control device 3 and a robot management device 4. The configuration of each unit will be described in detail below.

[0039] <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.

[0040] 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 3. As a result, a request is made to the group management control device 3 to allocate the hall call X for the user (allocation to a car G) (allocation request from the user). At this time, device information Pd1 for identifying the operated first operation unit 1 from other operation units, devices, etc. is also transmitted to the group management control device 3 so that the group management control device 3 can recognize which floor the operated first operation unit 1 is for.

[0041] <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 reached by the elevator. 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.

[0042] 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 3. As a result, the group management control device 3 is requested to register a car call Y for the user (register it in the car G). At this time, device information Pd2 for distinguishing the operation unit from other operation units or devices is also transmitted to the group management control device 3 so that the group management control device 3 can recognize which car G the operated second operation unit 2 is in.

[0043] <Group management control device> The group management control device 3 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] Specifically, when an allocation request is received from a user at a hall, the group management control device 3 extracts allocation candidates from among multiple cars G and allocates the hall call X to the allocation candidate (if there are multiple candidates, one of them) (allocation process; see Figure 4). Details of this allocation process will be described later. Then, the group management control device 3 controls the operation of each car G through the elevator control device, causing each car G to execute a response operation to the hall call X allocated to that car (response process).

[0045] Specifically, the group management control device 3 includes a storage unit 31 and a control unit 32 (see FIG. 1).

[0046] 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 group management control device 3. In this embodiment, such information includes device management data Dp, hall call management data Dx, and car call management data Dy stored in the storage unit 31. The device management data Dp also includes device management data Dp1 for the first operation unit 1 and device management data Dp2 for the second operation unit 2 (not shown in FIG. 1).

[0047] Here, the device management data Dp1 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 Dp2 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 Dx and the car call management data Dy are data for managing information on hall calls X and car calls Y for users, respectively. Specifically, they are as follows.

[0048] 2(A) is a conceptual diagram illustrating device management data Dp1 used in this embodiment for the first operation unit 1. In the device management data Dp1, for each first operation unit 1, device information Pd1 of the first operation unit 1 and the installation floor Fs are recorded in a mutually associated state.

[0049] As a result, when the group management control device 3 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.

[0050] 2(B) is a conceptual diagram illustrating the device management data Dp2 used in this embodiment for the second operation unit 2. In the device management data Dp2, 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.

[0051] As a result, when the group management control device 3 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 3 registers the destination floor Fd received from each second operation unit 2 as a car call Y, it becomes possible to identify the car G to which the destination floor Fd should be registered.

[0052] 2(C) and 2(D) are conceptual diagrams illustrating examples of the hall call management data Dx and the car call management data Dy used in this embodiment, respectively.

[0053] In the hall call management data Dx (see FIG. 2(C)), each piece of car information Pg of a car G is associated with an allocation status of a hall call X for a user for that car G. Specifically, for each elevator floor and for each direction in which the car G can move from that floor, a status indicating whether or not a hall call X has been allocated, with the pair of floors and directions being the departure floor Fc and the destination direction Kc, respectively, is associated as the allocation status. The example in FIG. 2(C) shows a case in which the allocation status for each direction from each floor is updated to "ON" when a hall call X has been allocated, with the pair of floors and directions being the departure floor Fc and the destination direction Kc, respectively, and is updated to "OFF" when the hall call X is deleted.

[0054] In the car call management data Dy (see FIG. 2(D)), the car information Pg of each car G is associated with the registration status of a car call Y for a user of that car G. Specifically, for each elevator floor, a status indicating whether or not a car call Y for 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 operation unit 2 in the car G) is associated as the registration status. The example of FIG. 2(D) shows a case where the registration status for each floor is updated to "ON" when a car call Y with that floor as a destination floor Fd is registered, and is updated to "OFF" when that car call Y is deleted.

[0055] The control unit 32 is a part that is responsible for executing the control processes (including allocation processes and response processes) performed by the group management control device 3. Specifically, the control unit 32 is composed of processing devices such as a CPU or MPU, and executes a control program installed in the group management control device 3 to realize the execution of its own control processes in software. Note that, before being installed in the group management control 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 group management control 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 into the group management control device 3.

[0056] <Robot management device> The robot management device 4 is a device that centrally manages the robots H deployed on a predetermined floor Ft.

[0057] In this embodiment, each robot H has an imaging function (a function of taking pictures with its own camera 50 (see FIG. 1)), and can selectively take pictures of the inside of the elevator car G stopped at the predetermined floor Ft where the robot H is deployed (see FIG. 6(A)), or take pictures of the hall at the predetermined floor Ft (see FIG. 6(B)), in response to a command from the robot management device 4. In addition, each robot H has an alarm function (a function of providing information by voice output, screen display, etc.), and can output various types of information in response to a command from the robot management device 4 (see FIGS. 7(A) and 7(B)).

[0058] Then, in order to significantly improve the transport efficiency of the elevator using the robot H, the robot management device 4 sets the car G stopped at a predetermined floor Ft as a target car Gk, and uses the robot H deployed at the predetermined floor Ft to guide users waiting to board the target car Gk (guidance process; see FIG. 5). Details of this guidance process will be described later.

[0059] Specifically, the robot management device 4 includes a storage unit 41 and a control unit 42 (see FIG. 1).

[0060] 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 robot management device 4. In this embodiment, the storage unit 41 stores such information as robot management data Dq and occupancy rate management data Dr.

[0061] Here, the robot management data Dq is a database for managing, for each robot H, multiple pieces of information related to that robot H by linking them together. The occupancy rate management data Dr is data for managing, for each car G, the target value Rt (a value for improving transport efficiency) set on the elevator side for the occupancy rate Rs of that car G, also on the robot management device 4 side. Specifically, it is as follows.

[0062] 3A is a conceptual diagram illustrating the robot management data Dq used in this embodiment. In the robot management data Dq, for each robot H, the robot information Ph of that robot H and the predetermined floor Ft on which that robot H is deployed are recorded in association with each other.

[0063] As a result, when the robot management device 4 receives robot information Ph from each robot H, it becomes possible to identify the floor (predetermined floor Ft) on which the robot H is deployed from the robot information Ph. Furthermore, each time the elevator car G stops at any floor, the robot management device 4 becomes able to identify, from the floor number of the arrival floor at that time, whether a robot H is deployed at the landing on that floor, and if so, which robot H is deployed.

[0064] 3(B) is a conceptual diagram illustrating the occupancy rate management data Dr used in this embodiment. In the occupancy rate management data Dr, for each car G, the car information Pg of that car G and the target value Rt of the occupancy rate Rs to be achieved by that car G are recorded in a mutually associated state. Note that the occupancy rate management data Dr may record the target value Rt as a fixed value (e.g., 80%) previously set by the group management control device 3, or may record the same as the latest value set by the group management control device 3 depending on the elevator usage status at that time (such as the congestion status of users).

[0065] This allows the robot management device 4 to grasp the target value Rt of the occupancy rate Rs to be achieved in each car G (if set according to the usage situation, the latest target value Rt).

[0066] The control unit 42 is a part that is responsible for executing the control processing (including guidance processing) performed by the robot management device 4. Specifically, the control unit 42 is composed of processing devices such as a CPU or an MPU, and executes a control program installed in the robot management device 4 to realize the execution of its own control processing in software. Note that, before being installed in the robot management 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 processing performed by the robot management device 4 is 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 robot management device 4.

[0067] [1-2] Control process executed by elevator [1-2-1] Allocation process performed by the group management control device Fig. 4 is a flowchart showing the allocation process executed in this embodiment. This allocation process is started every time a user (first operation unit 1) requests the group management control device 3 to allocate a hall call X. Specifically, the group management control device 3 starts the allocation process in Fig. 4 every time it receives a set of information including a destination direction Kc and device information Pd1. Hereinafter, this set of information will be referred to as "received information Pr1".

[0068] When the allocation process begins, the group management control device 3 first uses the device management data Dp1 to find device information Pd1 managed therein that matches the device information Pd1 in the received information Pr1, then extracts the installation floor Fs associated with the device information Pd1, and sets the installation floor Fs as the user's departure floor Fc. The group management control device 3 then determines the hall call X of the user to whom allocation should be performed (step S101). Specifically, the group management control device 3 sets the user's departure floor Fc (= installation floor Fs) and the destination direction Kc in the received information Pr1 (user's destination direction Kc) as the hall call X of the user.

[0069] After step S101, the group management control device 3 extracts allocation candidates for the hall call X determined in step S101 from among the multiple cars G (step S102). Then, the group management control device 3 executes allocation of the hall call X to the allocation candidate extracted in step S102 (if there are multiple candidates, one of the allocation candidates) (step S103; see FIG. 2(C)). Thereafter, the group management control device 3 ends the allocation process.

[0070] [1-2-2] Guidance process performed by the robot management device 5 is a flowchart showing the guidance process executed in this embodiment. This guidance process is started every time the elevator car G stops at a predetermined floor Ft where the robot H is deployed. Specifically, the guidance process is started through the following process.

[0071] In this embodiment, the robot management device 4 constantly acquires elevator information (including information indicating the operation status of each car G, the elevator usage status, etc.) at that time from the group management control device 3. Specifically, the robot management device 4 constantly requests the group management control device 3 to return the elevator information at that time, and acquires the necessary information by receiving the elevator information returned from the group management control device 3 in response to the request. Based on the elevator information acquired in this way, the robot management device 4 knows the current position and movement direction (including the next departure direction from the arrival floor) of each car G. Therefore, the robot management device 4 can determine whether each car G has arrived at a certain floor, and if it can determine that the car G has "arrived," it can identify the floor number of the arrival floor at that time and the next departure direction from that arrival floor.

[0072] If the robot management device 4 determines that any of the cars G has "arrived," it further determines whether the floor number of the arrival floor at that time matches any of the floor numbers recorded as the predetermined floor Ft in the robot management data Dq (see FIG. 3(A)). If the robot management device 4 determines that they "match," it can use that determination to determine that a robot H is deployed at the arrival floor, and can also identify which robot H that is. In this case, the robot management device 4 sets the car G that was the subject of the determination and the arrival floor (the predetermined floor Ft where that car G arrived) as the target car Gk and target floor Fk, respectively, and further sets the robot H deployed at the target floor Fk as the target robot Hk, and then starts the guidance process of FIG. 5.

[0073] When the guidance process starts, the robot management device 4 first commands the target robot Hk to take a picture of the inside of the target car Gk with its door open in order to obtain an image of the interior of the target car Gk, in order to estimate the occupancy rate Rs of the target car Gk at that time based on an image of the interior of the target car Gk taken from the hall (step S201). As a result, the target robot Hk follows the command to take a picture of the interior of the target car Gk with its camera 50 pointed (see FIG. 6(A)) and transmits the image obtained by taking the picture to the robot management device 4.

[0074] Next, the robot management device 4 estimates the occupancy rate Rs of the target car Gk by analyzing the image transmitted from the target robot Hk (step S202). As an example, the robot management device 4 can estimate the number of users in the target car Gk by image analysis and calculate the occupancy rate Rs by dividing this number by the capacity of the target car Gk. Furthermore, if the robot management device 4 detects through image analysis that a user is carrying large baggage, it may convert the baggage into the number of users to calculate the occupancy rate Rs.

[0075] After step S202, the robot management device 4 determines whether the occupancy rate Rs estimated in step S202 has reached the target value Rt (step S203). Specifically, the robot management device 4 determines whether the occupancy rate Rs estimated in step S202 has reached the target value Rt, using the target value Rt associated with the car information Pg of the target car Gk in the occupancy rate management data Dr.

[0076] If the robot management device 4 determines "not reached (No)" in step S203, it can determine that there is still space available in the target car Gk for a passenger to board. In this case, the robot management device 4 determines whether a passenger who should board in the available space is at the landing of the target floor Fk based on an image of the landing. In order to obtain the image, the robot management device 4 first commands the target robot Hk to photograph the landing of the target floor Fk (step S211). In response to the command, the target robot Hk then points its camera 50 toward the landing of the target floor Fk to photograph the image (see FIG. 6(B)), and transmits the photographed image to the robot management device 4.

[0077] Next, the robot management device 4 analyzes the image transmitted from the target robot Hk to determine whether or not a user waiting to board the target car Gk is at the hall (step S212). As an example, the robot management device 4 can determine whether or not a user at the hall is waiting to board the target car Gk by determining through image analysis whether or not the user is facing the target car Gk.

[0078] If the robot management device 4 determines "present at the platform (Yes)" in step S212, it can determine that a passenger who should be allowed to board the target car Gk is present at the platform. In this case, the robot management device 4 commands the target robot Hk to output guidance information Px1 (audio output, screen display, etc.; see FIG. 7(A)) to encourage the passenger at the platform to board the target car Gk (step S213). As a result, the target robot Hk outputs the guidance information Px1 to the passenger at the platform in accordance with the command. For example, the guidance information Px1 is voice data or text data such as "This car is still available for boarding. Please board this car." The guidance information Px1 may be pre-recorded in the target robot Hk or may be transmitted from the robot management device 4 to the target robot Hk each time a command is issued.

[0079] After step S213, the robot management device 4 returns to step S201 and repeatedly executes the processes of steps S201 to S213 until it determines in step S203 that the robot has reached the platform (Yes) or in step S212 that the robot has not reached the platform (No).

[0080] If the robot management device 4 determines in step S212 that the target car Gk is not at the platform (No) even though there is available space in the target car Gk, the robot management device 4 terminates the guidance process since there is no longer any need for guidance.

[0081] If the robot management device 4 determines "reached (Yes)" in step S203, it can determine that there is no free space left in the target car Gk for passengers to board. In this case, the robot management device 4 determines whether there are any passengers remaining at the hall waiting to board the target car Gk based on an image of the hall. In order to obtain the image, the robot management device 4 first commands the target robot Hk to photograph the hall at the target floor Fk (step S221). In response to this command, the target robot Hk then points its camera 50 toward the hall at the target floor Fk to photograph the image, and transmits the photographed image to the robot management device 4.

[0082] Next, the robot management device 4 analyzes the image transmitted from the target robot Hk to determine whether or not there are any users remaining at the hall waiting to board the target car Gk (step S222). As an example, the robot management device 4 can determine whether or not a user at the hall is waiting to board the target car Gk by determining through image analysis whether or not the user is facing the target car Gk.

[0083] If the robot management device 4 determines "remaining at the hall (Yes)" in step S222, it can determine that there is a risk that a passenger at the hall will try to board the target car Gk even though there is no available space. In this case, the robot management device 4 commands the target robot Hk to output guidance information Px2 (audio output, screen display, etc.; see FIG. 7(B)) to restrict further boarding into the target car Gk (step S223). As a result, the target robot Hk outputs the guidance information Px2 to passengers at the hall in accordance with the command. For example, the guidance information Px2 is voice data or text data such as "No more passengers can board this car. Please board the next car." The guidance information Px2 may be pre-recorded in the target robot Hk or may be transmitted from the robot management device 4 to the target robot Hk each time a command is issued. After step S222, the robot management device 4 terminates the guidance process.

[0084] On the other hand, if the robot management device 4 determines in step S222 that "there are no passengers remaining at the landing (No)," it can determine that there are no passengers at the landing who are trying to force their way into the target car Gk that has no available space. In this case, the robot management device 4 does not need to restrict further boarding into the target car Gk, and therefore ends the guidance process without instructing the target robot Hk to output guidance information Px2.

[0085] According to this type of guidance processing, simply by deploying a robot H at the landing of a specified floor Ft, it becomes possible for the robot H to take photographs of both the interior of the target car Gk and the landing, and decisions can be made in steps S203, S212, and S222 based on the images obtained by the photographs.

[0086] Furthermore, when the occupancy rate Rs of the target car Gk has not reached the target value Rt (when it is determined that the occupancy rate has not reached (No) in step S203), and there are passengers at the hall waiting to board the target car Gk (when it is determined that the passengers are at the hall (Yes) in step S212), it is possible to have the robot H provide guidance to encourage passengers at the hall to board (for example, a notice that it is possible to board the target car Gk) until the occupancy rate Rs reaches the target value Rt. In this way, simply by deploying the robot H at the hall of the specified floor Ft, it becomes possible to operate the elevator at the desired occupancy rate Rs (target value Rt), and as a result, it becomes possible to improve transportation efficiency.

[0087] Furthermore, when the occupancy rate Rs of the target car Gk reaches the target value Rt (when it is determined in step S203 that it has reached the target value Rt), if there are passengers remaining at the hall waiting to board the target car Gk (when it is determined in step S222 that they are remaining at the hall), it becomes possible to have the robot H execute guidance to restrict boarding into the target car Gk (for example, a notice that no more passengers than this number can board the target car Gk). This makes it possible to prevent incidents such as passengers trying to board forcibly, causing departure delays, simply by deploying the robot H at the hall of a specified floor Ft, and as a result, it becomes possible to further improve transportation efficiency.

[0088] As described above, according to this embodiment, the robot H can be used to significantly improve the transport efficiency of the elevator.

[0089] [2] Variation [2-1] First modified example The first modified example is a modified example of the embodiment described above. Fig. 8 is a flowchart showing the guidance process executed in the first modified example. In the guidance process of this modified example, the robot management device 4 further performs the following process.

[0090] If the robot management device 4 determines in step S212 that the robot is at the landing (Yes), it commands the target robot Hk to output guidance information Px1 in step S213, and also commands the elevator (the group management control device 3 or the elevator control device that controls the target car Gk) to extend the door open period of the target car Gk (step S231). Specifically, the robot management device 4 transmits a door open extension signal to the elevator to command the extension of the door open period of the target car Gk.

[0091] According to step S231, it is possible to secure the time required for guidance (guidance by the target robot Hk) to encourage users at the boarding area to board, and the time required for users to board the target car Gk after being prompted by that guidance.

[0092] If the robot management device 4 determines in step S212 that the robot is not at the landing (No), it can determine that boarding into the target car Gk at the target floor Fk has been completed, even though the occupancy rate Rs has not reached the target value Rt (in other words, there is free space in the target car Gk). Therefore, in this modified example, if the robot management device 4 determines in step S212 that the robot is not at the landing (No), it commands the elevator (the group management control device 3 or the elevator control device that controls the target car Gk) to close the doors of the target car Gk before terminating the guidance process (step S232). Specifically, the robot management device 4 transmits a door-close start signal to the elevator to command the door of the target car Gk to close.

[0093] According to step S232, even if the occupancy rate Rs of the target car Gk has not reached the target value Rt, if boarding at the target floor Fk is completed, it is possible to close the doors and allow the target car Gk to depart without waiting for the pre-set door opening time (the time for which the doors are maintained in a fully open state) to elapse.

[0094] If the robot management device 4 determines "reached (Yes)" in step S203, it can determine that there is no free space left in the target car Gk for a passenger to board, and that there is no need to keep the target car Gk stopped at the target floor Fk any longer. Therefore, in this modified example, even if the robot management device 4 determines "reached (Yes)" in step S203, it commands the elevator to close the door of the target car Gk before terminating the guidance process (step S233).

[0095] According to step S233, even if there is no available space in the target car Gk, it is possible to close the door and allow the target car Gk to depart without waiting for the predetermined door opening time (the time for which the door is maintained in a fully open state) to elapse.

[0096] In step S233, the robot management device 4 may transmit, together with the door closing start signal, a full-occupancy signal to the elevator notifying that the occupancy rate Rs of the target car Gk has reached the target value Rt. This allows the elevator, when receiving the full-occupancy signal, to change the allocation of the hall call X to the target car Gk so that the target car Gk can pass through the floor at which it was scheduled to stop (here, the floor at which it will stop in response to the hall call X).

[0097] The guidance process of this modified example may be appropriately modified to include at least one of the above-described three steps S231 to S233.

[0098] [2-2] Second variant The second modified example is a modified example of the embodiment described above. Fig. 9 is a flowchart showing the guidance process executed in the second modified example. In the guidance process of this modified example, the robot management device 4 further performs the following process.

[0099] If the robot management device 4 determines in step S222 that the target robot Hk remains at the landing (Yes), it commands the target robot Hk to output guidance information Px2 in step S223, and also commands the target robot Hk to perform an action to block the entrance of the target car Gk (see FIG. 10) (step S240). As a result, the target robot Hk moves in front of the entrance of the target car Gk, thereby blocking the entrance.

[0100] According to step S240, it is possible to forcibly prohibit the target robot Hk from ignoring the guidance from the target robot Hk and getting on the train.

[0101] Incidentally, the configuration in which the target robot Hk is instructed to block the entrance of the target car Gk in this manner can also be applied to the first modified example described above.

[0102] [2-3] Third variant In any of the above-described embodiments and variants, when the robot management device 4 goes through step S201 in the guidance process and estimates the occupancy rate Rs of the target cage Gk in step S202, in step S201, it may instruct the target robot Hk to photograph a specified space Sx facing the entrance of the space within the target cage Gk (see Figure 11 (A)), and in step S202, it may estimate the occupancy rate Rs using the utilization rate Rx of the specified space Sx (the occupancy rate of users in the specified space Sx) calculated based on the image obtained by the photograph. As an example, if the ratio Zr of the specified space Sx to the total space in the target cage Gk is 40%, when the robot management device 4 calculates the utilization rate Rx as Rx = 0%, it estimates the occupancy rate Rs to be Rs ≦ 60% (100% - Zr = 60%), and when it calculates a value other than 0% as the utilization rate Rx, it can estimate the occupancy rate Rs using the formula 100% - Zr + Zr × Rx (when Rx = 50%, Rs = 80%).

[0103] According to the third variant, even if there is a user who is hidden behind the passenger riding in the target car Gk and is not visible when photographed from the boarding area, it is possible to estimate the occupancy rate Rs of the target car Gk.

[0104] Furthermore, in this modification, when the robot management device 4 commands the target robot Hk to photograph the predetermined space Sx in the target car Gk in step S201, the robot management device 4 may command the target robot Hk to output guidance information Px3 (see FIG. 11(B)) to prompt the user in the target car Gk to move to the back. As a result, the target robot Hk will output the guidance information Px3 to the user in the target car Gk in accordance with the command.

[0105] This guidance process allows passengers in the target car Gk to move further back, which makes it easier for the remaining free space corresponding to the actual occupancy rate Rs in the target car Gk to be reflected in the utilization rate Rx of the predetermined space Sx. Therefore, by calculating and using the utilization rate Rx of the predetermined space Sx from the image, it becomes possible to estimate the occupancy rate Rs of the target car Gk as close as possible to the actual occupancy rate Rs.

[0106] [2-4] Fourth Variation In any of the above-described embodiments and modifications, the robot management device 4 may determine whether or not to start the guidance process as follows.

[0107] The robot management device 4 instructs each robot H to take a photograph of the hall lantern installed at the landing of the specified floor Ft where the robot H is deployed, at any time, in order to determine whether the hall lantern installed at the boarding / alighting entrance of each car G at the landing of each specified floor Ft where the robot H is deployed is lit, based on an image of the hall lantern. As a result, each robot H follows the instruction to point the camera 50 towards the hall lantern to take a photograph, and then transmits the image obtained by the photograph to the robot management device 4.

[0108] Next, the robot management device 4 analyzes the image transmitted from each robot H to determine whether the hall lantern shown in the image is lit. If the robot management device 4 determines that the hall lantern is lit (Yes), it identifies the floor boarding area and the entrance of the car G where the lit hall lantern is installed, and starts the guidance process with the identified floor and car G as the target floor Fk and target car Gk, respectively.

[0109] According to the fourth modification, the robot management device 4 can identify which car G will arrive at a specific floor Ft and provide guidance to users without receiving a command from the elevator (in other words, autonomously). Also, it becomes possible to move the target robot Hk in advance near the entrance of the arriving car G (target car Gk) in preparation for guidance.

[0110] [2-5] Fifth variant The robot management device 4 may determine whether or not to start the guidance process as follows, instead of the fourth modified example.

[0111] The robot management data Dq (see FIG. 3(A)) is also stored in the memory unit 31 of the group management control device 3, and each time a car G arrives at a predetermined floor Ft where a robot H is deployed, the group management control device 3 outputs an arrival signal indicating which predetermined floor Ft the car G has arrived at. When the robot management device 4 receives an arrival signal from the group management control device 3, it starts guidance processing, setting the predetermined floor Ft and car G identified by the arrival signal as the target floor Fk and target car Gk.

[0112] According to the fifth modification, every time the elevator car G arrives at the predetermined floor Ft, it becomes possible to provide guidance to the user in response to a command from the elevator.

[0113] [2-6] Sixth Variation The sixth modification is a modification of the above-described embodiment.

[0114] FIG. 12 is a conceptual diagram illustrating the occupancy rate management data Dr used in the sixth modified example. In this modified example, the robot management device 4 can temporarily change the target value Rt in the occupancy rate management data Dr from a default value (a preset fixed value or the latest value set according to the elevator usage status). In the occupancy rate management data Dr, each car information Pg is associated with a change flag Pf indicating whether the corresponding target value Rt has been temporarily changed. In the example of FIG. 12, Pf="1" indicates that the target value Rt has been temporarily changed, and Pf="0" indicates that the target value Rt remains unchanged at the default value. The reason why the robot management device 4 temporarily changes the target value Rt in this modified example will become clear in the explanation of the guidance process below.

[0115] 13 is a flowchart showing the guidance process executed in Modified Example 6. In the guidance process of this modified example, the robot management device 4 further performs the following processes.

[0116] When the guidance process begins, the robot management device 4 first determines whether the change flag Pf associated with the car information Pg of the target car Gk is "0" or "1" by referring to the occupancy rate management data Dr (step S250).

[0117] If the robot management device 4 determines in step S250 that Pf="0", it determines whether the target car Gk is scheduled to stop at another predetermined floor Ft (a floor where another robot H is deployed) in response to a hall call X after the target floor Fk where it is currently stopped (step S251). Specifically, the robot management device 4 obtains elevator information at that time (including information on the hall call X assigned to the target car Gk) from the group management control device 3, and uses that elevator information to make the determination in step S251.

[0118] If the robot management device 4 determines in step S251 that it is "planned (Yes)," it sets the default value recorded in the occupancy rate management data Dr as the target value Rt of the target car Gk as the first target value Rt1, and sets a second target value Rt2 lower than the first target value Rt1 as the new target value Rt of the target car Gk (step S252). Specifically, the robot management device 4 changes the target value Rt of the target car Gk in the occupancy rate management data Dr to the second target value Rt2. At this time, the robot management device 4 sets the change flag Pf associated with the car information Pg of the target car Gk to "1." Then, the robot management device 4 executes the processing from step S201.

[0119] On the other hand, if the robot management device 4 determines "not scheduled (No)" in step S251, it executes the process from step S201 without changing the setting in step S252.

[0120] According to this processing, even in a situation where the number of passengers boarding from the first specified floor Ft (target floor Fk) is so large that the occupancy rate Rs of the target car Gk always reaches the default value, by setting the target value Rt of the occupancy rate Rs at that specified floor Ft to the second target value Rt2, it is possible to leave space so that passengers can board the target car Gk at the second specified floor Ft as well.

[0121] Then, after performing the series of processes, the robot management device 4 returns the target value Rt of the target car Gk recorded in the occupancy rate management data Dr from the second target value Rt2 to the first target value Rt1 (default value) (step S270) before ending the guidance process. Specifically, the robot management device 4 returns the target value Rt of the target car Gk in the occupancy rate management data Dr to the first target value Rt1. At this time, the robot management device 4 leaves the change flag Pf associated with the car information Pg of the target car Gk set to "1" so that it can be confirmed from the occupancy rate management data Dr that space was intentionally left in the target car Gk.

[0122] Thereafter, when the target car Gk stops at the second predetermined floor Ft, the robot management device 4 sets the second predetermined floor Ft as the target floor Fk and starts the guidance process of Fig. 13. At this time, in the occupancy rate management data Dr, the target value Rt of the target car Gk is set to the first target value Rt1 (default value), and the corresponding change flag Pf is set to "1." Therefore, the robot management device 4 determines in step S250 that Pf="1."

[0123] In this case, the robot management device 4 changes the change flag Pf associated with the car information Pg of the target car Gk in the occupancy rate management data Dr from "1" to "0" (step S260). Then, the robot management device 4 executes the process from step S201.

[0124] According to this processing, it is possible for passengers waiting at the boarding area of ​​the second specified floor Ft to board in the space remaining at the first specified floor Ft until the occupancy rate Rs reaches the first target value Rt1 (default value).

[0125] Incidentally, the configuration in which the target value Rt is changed in order to leave space on the first predetermined floor Ft can also be applied to the first to fifth modified examples described above.

[0126] [2-7] 7th variant The seventh modified example is a further modification of the sixth modified example described above. When the robot management device 4 sets the second target value Rt2 as the new target value Rt of the target car Gk in step S252 of Fig. 13, the value of the second target value Rt2 can be determined as follows.

[0127] In order to grasp the number of passengers waiting to board at the platform of the second predetermined floor Ft based on an image of the platform, the robot management device 4 first commands the robot H deployed at the second predetermined floor Ft to take an image of the platform of the second predetermined floor Ft in order to obtain the image. In response to this command, the robot H points its camera 50 toward the platform of the predetermined floor Ft to take an image, and then transmits the image obtained by taking the image to the robot management device 4.

[0128] Next, the robot management device 4 calculates the number of passengers waiting to board at the platform of the second predetermined floor Ft by analyzing the image transmitted from the target robot Hk. As an example, the robot management device 4 calculates the number of passengers waiting to board at the platform by counting the number of passengers facing the boarding / alighting door at the platform. Then, the robot management device 4 determines the second target value Rt2 according to the number of passengers.

[0129] According to the seventh variant, it is possible to determine the second target value Rt2 so as not to create unnecessary empty space in the target car Gk (in other words, so that the empty space left at the target floor Fk (first specified floor Ft) to allow boarding at the second specified floor Ft does not become excessive compared to the actual number of passengers).

[0130] [2-8] Eighth Variation In any of the above-described embodiments and modifications, each robot H may be modified as appropriate to execute the control processing (including guidance processing) performed by the robot management device 4 on behalf of the robot management device 4. In this case, each robot H will communicate with the group management control device 3 without going through the robot management device 4. This allows each robot H to autonomously provide guidance to users on the specified floor Ft where it is deployed.

[0131] [2-9] Other variations In any of the above-described embodiments and modifications, the guidance process performed by the robot management device 4 can also be applied to an elevator equipped with only one car G. In this case, the elevator control device that controls the one car G performs the necessary communication with the robot management device 4 instead of the group management control device 3.

[0132] 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.

[0133] Furthermore, from the above-described embodiments and modifications, the subject matter of the invention is not limited to the robot management device 4 and the robot H, but may also include control processes (including corresponding control methods) and programs executed by the robot management device 4 and the robot H individually, or some of them may be extracted partially. Also, some or all of an elevator equipped with the robot management device 4 and the robot H may also be extracted as the subject matter of the invention. [Explanation of symbols]

[0134] 1 1st operation section 2 2nd operation section 3 Group management control device 4. Robot Management Device G car H Robot X Platform call Y Cage call 31, 41 Storage section 32, 42 Control section 50 cameras Dp Equipment Management Data Dq Robot Management Data Dr. Occupancy rate management data Dx Hall call management data Dy Cage call management data Fc Departure Floor Fd Destination floor Fk target floor Fs Installation floor Ft designated floor GK target basket Hk Target Robot Kc destination direction Pf change flag Pg Basket Information Ph Robot Information Rs ridership Rt target value Rx utilization rate Sx designated space Zr ratio Dp1, Dp2 equipment management data Pd1, Pd2 device information Pr1 Received information Px1, Px2, Px3 guide information Rt1 First target value Rt2 Second target value

Claims

1. a robot management device that manages robots deployed on a predetermined elevator floor; A car stopped at the predetermined floor is set as a target car, and the robot is instructed to take an image of the inside of the target car, and the occupancy rate of the target car is estimated based on the image obtained by the image taking, and then a determination is made (A) as to whether or not the occupancy rate has reached a target value; If it is determined in the determination (A) that the target value has not been reached, the robot is instructed to take an image of the platform at the specified floor, and based on the image obtained by the image taking, a further determination (B) is made as to whether or not a passenger waiting to board the target car is present at the platform; If the judgment (B) determines that the user is at a platform, the robot management device instructs the robot to output guidance information to encourage the user at the platform to board the target car.

2. 2. The robot control device according to claim 1, further comprising a command to the elevator to extend the door opening time of the target car when it is determined in the determination (B) that the user is at the landing.

3. 3. The robot management device according to claim 1, wherein when it is determined in the determination (B) that the user is not at the landing, the robot management device commands the elevator to close the door of the target car.

4. If it is determined in the determination (A) that the target value has been reached, the robot is instructed to take an image of the platform at the predetermined floor, and based on the image obtained by the image taking, a determination (C) is further made as to whether or not there are any passengers remaining at the platform waiting to board the target car, 2. The robot management device according to claim 1, wherein when the judgment (C) determines that the user remains at the platform, the robot is instructed to output guidance information to restrict boarding of the target car.

5. a robot management device that manages robots deployed on a predetermined elevator floor; A car stopped at the predetermined floor is set as a target car, and the robot is instructed to take an image of the inside of the target car, and the occupancy rate of the target car is estimated based on the image obtained by the image taking, and then a determination is made (A) as to whether or not the occupancy rate has reached a target value; If it is determined in the determination (A) that the target value has been reached, the robot is instructed to take an image of the platform at the predetermined floor, and based on the image obtained by the image taking, a determination (C) is further made as to whether or not there are any passengers remaining at the platform waiting to board the target car, When it is determined in the judgment (C) that the user remains at the platform, the robot management device commands the robot to output guidance information for restricting boarding of the target car.

6. 6. The robot management device according to claim 4, further instructing the robot to block the entrance of the target car when it is determined in the determination (C) that the user remains at the hall.

7. A robot management device as described in claim 1 or 5, wherein when estimating the occupancy rate of the target car, the robot is instructed to photograph a specified space facing the entrance within the target car, and the occupancy rate is estimated using the utilization rate of the specified space calculated based on the image obtained by the photograph.

8. The robot management device according to claim 7, wherein when the robot is instructed to photograph the specified space, the robot is further instructed to output guidance information to encourage users in the target car to move to the back.

9. Instruct the robot to take an image of a hall lantern installed at the entrance of each elevator car at the platform of the predetermined floor, and determine whether or not the hall lantern is lit based on the image obtained by the image taking (D); A robot management device as described in claim 1 or 5, wherein, when it is determined in the judgment (D) that the hall lantern is lit, the car that arrives at the boarding / alighting entrance where the lit hall lantern is installed is set as the target car, and the occupancy rate of the target car is estimated and the judgment (A) is made.

10. The elevator outputs an arrival signal indicating which car has arrived at the predetermined floor each time the car arrives at the predetermined floor, A robot management device as described in claim 1 or 5, when an arrival signal is received from the elevator, the elevator car identified by the arrival signal is set as the target car, and the occupancy rate of the target car is estimated and the judgment (A) is made.

11. If the target car is scheduled to stop at another predetermined floor in response to a hall call after the predetermined floor at which it is currently stopped, In the determination (A) performed while the target car is stopped at a first predetermined floor, a second target value lower than a first target value, which is a default value, is used as the target value; The robot management device according to claim 1 or 5, wherein the first target value is used as the target value in the determination (A) performed while the target car is stopped at a second predetermined floor.

12. 12. The robot management device of claim 11, wherein, when the second target value is used as the target value in the judgment (A) made while the target car is stopped at the first specified floor, the robot management device first instructs a robot deployed at the second specified floor to take an image of the platform at that specified floor, and based on the image obtained by the image capture, determines the number of passengers waiting to board at the second specified floor, and then determines the second target value according to that number of passengers.

13. A robot management method for managing a robot deployed on a predetermined elevator floor, A car stopped at the predetermined floor is set as a target car, and the robot is instructed to take an image of the inside of the target car, and the occupancy rate of the target car is estimated based on the image obtained by the image taking, and then a determination is made (A) as to whether or not the occupancy rate has reached a target value; If it is determined in the determination (A) that the target value has not been reached, the robot is instructed to take an image of the platform at the specified floor, and based on the image obtained by the image taking, a further determination (B) is made as to whether or not a passenger waiting to board the target car is present at the platform; A robot management method in which, if the judgment (B) determines that the user is at a platform, the robot is instructed to output guidance information to encourage the user at the platform to board the target car.

14. A robot management method for managing a robot deployed on a predetermined elevator floor, A car stopped at the predetermined floor is set as a target car, and the robot is instructed to take an image of the inside of the target car, and the occupancy rate of the target car is estimated based on the image obtained by the image taking, and then a determination is made (A) as to whether or not the occupancy rate has reached a target value; If it is determined in the determination (A) that the target value has been reached, the robot is instructed to take an image of the platform at the predetermined floor, and based on the image obtained by the image taking, a determination (C) is further made as to whether or not there are any passengers remaining at the platform waiting to board the target car, When it is determined in the judgment (C) that the user remains at the platform, the robot is instructed to output guidance information for restricting boarding of the target car.

15. A robot deployed at a specific elevator floor, A car stopped at the predetermined floor is set as a target car, an image of the inside of the target car is taken, the occupancy rate of the target car is estimated based on the image obtained by the image taking, and then a determination is made (A) as to whether or not the occupancy rate has reached a target value; If it is determined in the determination (A) that the target value has not been reached, an image of the platform at the predetermined floor is taken, and based on the image obtained by the image taking, a further determination (B) is made as to whether or not a passenger waiting to board the target car is present at the platform; When it is determined in the judgment (B) that the user is at a platform, the robot outputs guidance information to encourage the user at the platform to board the target car.

16. A robot deployed at a specific elevator floor, A car stopped at the predetermined floor is set as a target car, an image of the inside of the target car is taken, the occupancy rate of the target car is estimated based on the image obtained by the image taking, and then a determination is made (A) as to whether or not the occupancy rate has reached a target value; If it is determined in the determination (A) that the target value has been reached, an image of the platform at the predetermined floor is taken, and based on the image obtained by the image taking, a determination (C) is further made as to whether or not there are any passengers remaining at the platform waiting to board the target car, When it is determined in the determination (C) that the user remains at the platform, the robot outputs guidance information to restrict boarding of the target car.

17. A robot to be deployed on a predetermined floor of an elevator or a robot management device that manages the robot, A process of taking an image of the interior of a car stopped at the predetermined floor as a target car by using the robot, estimating the occupancy rate of the target car based on the image obtained by the image taking, and then determining (A) whether the occupancy rate has reached a target value; If it is determined in the determination (A) that the target value has not been reached, the robot photographs the platform at the predetermined floor, and based on the image obtained by photographing, it further determines (B) whether or not a user waiting to board the target car is present at the platform; When it is determined in the determination (B) that the user is at a platform, the robot outputs guidance information to encourage the user at the platform to board the target car; A program that executes.

18. A robot to be deployed on a predetermined floor of an elevator or a robot management device that manages the robot, A process of taking an image of the interior of a car stopped at the predetermined floor as a target car by using the robot, estimating the occupancy rate of the target car based on the image obtained by the image taking, and then determining (A) whether the occupancy rate has reached a target value; If it is determined in the determination (A) that the target value has been reached, the robot photographs the platform at the predetermined floor, and based on the image obtained by the photograph, it further determines (C) whether or not there are any passengers remaining at the platform waiting to board the target car; When it is determined in the determination (C) that the user remains at the platform, the robot outputs guidance information for restricting boarding of the target car; and A program that executes.

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