Elevator system

Abstract

To provide an elevator system capable of allowing a moving body to quickly get on or off a car.SOLUTION: An elevator system includes a communication unit configured to receive, from a moving body that moves autonomously, a notification of getting on or off a car of an elevator device and information indicating a weight of the moving body, a calculation unit configured to calculate a final re-leveling amount of the car based on the received weight of the moving body, and an execution unit configured to raise or lower the car by the final re-leveling amount by a hoisting machine that drives the car when a part of the moving body gets on the car or when a part of the moving body gets off the car.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an elevator system that cooperates with an autonomously moving vehicle. [Background technology]

[0002] Patent Document 1 discloses an elevator control system. The elevator control system includes an elevator and an autonomous mobile vehicle. When an autonomous mobile vehicle enters the car, the weight of the vehicle causes the car to sink, which can create a step at the boundary between the car and the landing. When the autonomous mobile vehicle enters the elevator car, it detects the size of the step. Based on information from the autonomous mobile body, the elevator raises or lowers the car to eliminate the detected step. This makes it possible to effectively eliminate the step. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-089046 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the elevator control system described in Patent Document 1, the elevator attempts to eliminate the step by repeatedly communicating with the autonomous mobile vehicle regarding the step size. Since the autonomous mobile vehicle stops with the autonomous mobile vehicle inside the car, there is a risk of a decrease in elevator operation efficiency.

[0005] The present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to provide an elevator system that allows a moving object to quickly board or disembark from the car. [Means for solving the problem]

[0006] The elevator system according to the present disclosure includes a communication unit that receives, from an autonomously moving object, a notification that the object is getting on or off the car of an elevator device and information indicating the weight of the object; a calculation unit that calculates the actual re-leveling amount of the car based on the received weight of the object; and an execution unit that raises or lowers the car by the actual re-leveling amount using a hoist that drives the car when a part of the object gets on or off the car. [Effects of the Invention]

[0007] According to the present disclosure, when a part of a moving object gets on or off the car, the elevator system raises or lowers the car by the re-leveling amount using a hoist that drives the car, thereby allowing the moving object to quickly get on or off the car. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a configuration diagram of a building to which the elevator system according to the first embodiment is applied. [Figure 2] FIG. 10 is a schematic diagram showing a state in which a moving object gets on a car undergoing releveling. [Figure 3] FIG. 10 is a schematic diagram showing a state in which a moving object gets on a car undergoing releveling. [Figure 4] FIG. 10 is a schematic diagram showing a state in which a moving object dismounts from a car undergoing releveling. [Figure 5] FIG. 10 is a schematic diagram showing a state in which a moving object dismounts from a car undergoing releveling. [Figure 6] 1 is a functional block diagram of an elevator system according to a first embodiment. [Figure 7] 4 is a flowchart showing an example of an operation performed in the elevator system according to the first embodiment. [Figure 8] 4 is a flowchart showing an example of an operation performed in the elevator system according to the first embodiment. [Figure 9]FIG. 2 is a diagram illustrating a first example of a detector of the elevator system according to the first embodiment. [Figure 10] FIG. 4 is a diagram showing a second example of a detector of the elevator system according to the first embodiment. [Figure 11] FIG. 10 is a functional block diagram of an elevator system according to a second embodiment. [Figure 12] FIG. 2 is a hardware configuration diagram of a linkage device of an elevator system according to the first or second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] The embodiments of the present disclosure will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals. Duplicate descriptions of these parts will be appropriately simplified or omitted.

[0010] Embodiment 1 Fig. 1 is a configuration diagram of a building to which the elevator system according to the first embodiment is applied. Figs. 2 and 3 are schematic diagrams showing a moving object getting into a releveling car. Figs. 4 and 5 are schematic diagrams showing a moving object getting off from a releveling car. Fig. 6 is a functional block diagram of the elevator system according to the first embodiment.

[0011] As shown in FIG. 1 , elevator system 1 includes elevator device 50 installed in building B. Elevator system 1 includes moving body 3 and linking device 4. Moving body 3 moves up and down inside building B using elevator device 50. Linking device 4 supports linking between moving body 3 and elevator device 50.

[0012] An elevator shaft B1 passes through each floor of building B. A machine room B2 is provided directly above the elevator shaft B1. A plurality of landings B3 are provided on each floor of building B. Each of the plurality of landings B3 faces the elevator shaft B1.

[0013] In the elevator apparatus 50 of this embodiment, a hoisting machine 51 is provided in the machine room B2. The hoisting machine 51 is placed on the floor of the machine room B2 via vibration-isolating rubber 52. A main rope 53 is wound around the hoisting machine 51. A car 54 is provided inside the hoistway B1. The car 54 is suspended from one side of the main rope 53 via a shackle spring 55. A control panel 2 of the elevator apparatus 50 is provided in the machine room B2. The control panel 2 controls the overall operation of the elevator apparatus 50.

[0014] A landing plate 56 is provided in the elevator shaft B1 at a position corresponding to the landing hall B3. A landing position detector 57 is provided in the car 54 at a position that can face the landing plate 56.

[0015] For example, the control panel 2 raises or lowers the car 54 by controlling the operation of the hoist 51. Specifically, as the hoist 51 rotates, the main rope 53 moves following the hoist 51. The car 54 rises or lowers together with the movement of the main rope 53. The control panel 2 controls the landing position of the car 54 based on the result of the landing position detector 57 reading the landing plate 56.

[0016] The mobile unit 3 is placed in building B. The mobile unit 3 moves autonomously. That is, the mobile unit 3 generates a movement route toward a set destination based on the detection values ​​of the sensors mounted on the mobile unit 3. The mobile unit 3 is a robot that performs tasks such as transporting objects and security. However, the mobile unit 3 is not limited to robots that perform these tasks.

[0017] For example, the linked device 4 is located in a location separate from building B. The functions of the linked device 4 may be implemented on a cloud server. The linked device 4 is capable of communicating with the control panel 2 and the mobile object 3.

[0018] When the moving body 3 uses the elevator device 50 to move up or down, the moving body 3 transmits a boarding notification to the coordination device 4 indicating that the moving body 3 wishes to board the car 54. The boarding notification includes the departure floor and destination floor of the car 54. The coordination device 4 transmits a call including the destination floor to the control panel 2 based on the boarding notification. The control panel 2 registers the call in the car 54 and dispatches the car 54. The control panel 2 transmits the operation status including the position of the car 54 to the coordination device 4. When the car 54 is ready to be boarded, the coordination device 4 transmits a boarding command to the moving body 3. The moving body 3 boards the car 54 based on the boarding command. When boarding into the car 54 is complete, the moving body 3 transmits a boarding completion notification to the coordination device 4. When the control panel 2 receives the boarding completion information from the coordination device 4, it starts the movement of the car 54.

[0019] When the moving object 3 dismounts from the car 54, the linking device 4 transmits a dismount command to the moving object 3 based on the operation status of the control panel 2. The moving object 3 transmits a dismount notification to the effect that it will dismount as confirmation of receipt of the dismount command, and dismounts from the car 54. When the moving object 3 has completed dismounting from the car 54, it transmits a dismount completion notification to the linking device 4. When the control panel 2 receives information indicating dismount completion from the linking device 4, it terminates the movement of the car 54.

[0020] In some mobile units 3, the underside of the housing is designed to be close to the running surface, and therefore the size of the floor step that can be tolerated relative to the running surface is determined. For example, there are mobile units 3 for which the allowable floor step, which is the size of the floor step that can be tolerated on the running surface when moving, is set to 5 mm. If the mobile unit 3 moves over a step that exceeds 5 mm, the underside of the housing may ride up on the step, preventing all of the wheels from touching the ground and making it impossible for the mobile unit 3 to move.

[0021] The moving object 3 may be heavy in weight and the weight of the luggage it is carrying may be heavy. If the weight of the moving object 3 is heavy, the car 54 carrying the moving object 3 may sink due to the weight. At this time, a step may occur between the car 54 and the hall B3.

[0022] Next, with reference to Figures 2 and 3, a step that may occur when the moving body 3 gets on the car 54 will be described. Note that in Figures 2 and 3, the hoisting machine 51 and the vibration-isolating rubber 52 are omitted from illustration.

[0023] As shown in Fig. 2, a floor board 60 rests on a frame 58 of the car 54 via a car floor rubber 59. A car door 61 of the car 54 opens and closes while being guided by a threshold 62. Furthermore, the car door 61 may be provided with a sensor 63 that detects people passing through the car door 61. The car 54 may also be provided with a camera 64 that photographs the interior. When the car 54 stops at the landing position, the height of the upper surface of the floor board 60 and the floor surface of hall B3 are assumed to be equal.

[0024] FIG. 2 shows a perspective side view of the car 54 when part of the moving object 3 is resting on the car 54. The state in which part of the moving object 3 is resting on the car 54 means that one or more of the multiple wheels supporting the moving object 3 are resting on the threshold 62 or floor board 60, and one or more of the multiple wheels are resting on the landing B3. Note that the state in which part of the moving object 3 is resting on the car 54 may also mean that the legs of the moving object 3 are resting on the car 54, rather than the wheels. When the moving object 3 gets on the car 54 or when the moving object 3 gets off the car 54, part of the moving object 3 may be resting on the car 54.

[0025] The load applied to the floor plate 60 of the car 54 is supported by the floor of the machine room B2 via the car floor rubber 59, the frame 58, the shackle spring 55, the main rope 53, the hoist 51, and the vibration-proof rubber 52. When two of the four wheels of the moving body 3 are on the car 54 and the underside of the housing of the moving body 3 is not in contact with the ground, approximately half of the weight of the moving body 3 is applied to the car 54. The weight of the moving body 3 deforms the car floor rubber 59, the shackle spring 55, the main rope 53, and the vibration-proof rubber 52, which are materials that are particularly prone to elastic deformation among materials that transmit the load. As these materials deform, the floor plate 60 moves downward relative to the floor surface of the landing B3, i.e., it sinks.

[0026] Hereinafter, the difference between the height of the sunken floor panel 60 and the height of the floor surface of hall B3 will also be referred to as the sinking amount of the floor panel 60. The length by which the car 54 sinks from its landing position will also be referred to as the sinking amount of the car 54. Note that the amount of sinking is particularly greatly affected by the amount of deformation of the main ropes 53.

[0027] Conventionally, when the car 54 sinks due to its internal weight and the amount of sinking of the car 54 exceeds a specified threshold, such as 10 mm, the car 54 is releveled. The occurrence of sinking of the car 54 is detected by the detection result of the floor position detector 57. Releveling the car 54 includes an operation in which, when the car 54 sinks, the hoist 51 winds up the main rope 53, thereby moving the car 54 upward. For example, during releveling, the car 54 is moved so that the detection result of the floor position detector 57 is an appropriate position. Note that even when such releveling is performed, the floor panel 60 remains sunk by the amount by which the car floor rubber 59 is compressed.

[0028] 3, when the entire moving body 3 is placed on the car 54, the entire weight of the moving body 3 is applied to the floor panel 60. In this state, re-leveling can be performed depending on the amount of sinking of the car 54. Even when such re-leveling is performed, the floor panel 60 remains sunk by the amount that the car floor rubber 59 is compressed.

[0029] 4 and 5 show a perspective side view of the car 54 when the moving body 3 gets off the car 54. The car 54 stops at a specified landing position. At this time, the amount of deformation of the car floor rubber 59 is the amount of sinking of the floor panel 60.

[0030] When part of the moving body 3 descends from the car 54, the state is the same as when part of the moving body 3 is still on it. In this state, approximately half of the weight of the moving body 3 is removed from the floor plate 60, to which the entire weight of the moving body 3 had been applied. Due to the change in load, the car floor rubber 59, shackle spring 55, main rope 53, and vibration-proof rubber 52 deform in the direction of the restoring force. As these materials deform, the floor plate 60 and the car 54 move upward relative to the floor surface of hall B3, that is, they lift up.

[0031] Hereinafter, the length by which the car 54 is lifted up from the landing position will also be referred to as the lift amount of the car 54.

[0032] When the deformation amount of the car floor rubber 59 is small, the amount of lift of the car 54 and the amount of sinking of the car 54 are approximately the same value. Hereinafter, it is assumed that the deformation amount of the car floor rubber 59 is negligibly small compared to the deformation amount of the main ropes 53, and that the amount of lift of the car 54 and the amount of sinking of the car 54 are the same value. Furthermore, the amounts of lift and sinking indicate the amounts of lift and sinking of the car 54.

[0033] When a part of the moving object 3 enters the car 54 or when a part of the moving object 3 exits the car 54, a step occurs between the floor board 60 and the floor surface of the hall B3 by the amount of sinking or lifting. The allowable step of the moving object 3 may be smaller than the threshold for releveling. Specifically, the threshold may be ±10 mm, and the step range for releveling may be −10 mm to +10 mm, while the allowable step may be 5 mm. In this case, for example, even if the step between the floor board 60 and the floor surface of the hall B3 becomes +8 mm, releveling is not performed because it is below the threshold. There is a risk that the moving object 3 will enter or exit the car 54 while scraping the underside of its housing against the step. Furthermore, there is a risk that a large step may temporarily remain until releveling of the car 54 is performed.

[0034] Therefore, in the elevator system 1 of this embodiment, when the moving object 3 gets on or off the car 54, releveling is performed by the required amount regardless of the threshold value.

[0035] Next, the functional configuration of the elevator system 1 will be described in detail with reference to FIG. 6. The elevator system 1 is further provided with a detector 10. The detector 10 may be provided in the moving body 3 or in the elevator device 50. The detector 10 has at least one function of a boarding / alighting detection unit 11 and an abnormality detection unit 12. Note that the detector 10 having the function of the boarding / alighting detection unit 11 may be provided in either the moving body 3 or the elevator device 50. In this case, another detector 10 having the function of the abnormality detection unit 12 may be provided in the other of the moving body 3 or the elevator device 50. The detector 10 may also communicate with the linked device 4 via the moving body 3 or the elevator device 50.

[0036] The boarding / alighting detection unit 11 detects that the moving object 3 has entered the car 54 or that the moving object 3 has exited the car 54. The abnormality detection unit 12 detects an abnormality related to the running of the moving object 3 when the moving object 3 enters the car 54 or exits the car 54.

[0037] The mobile object 3 has, as its functions, an individual communication unit 31, a sensor unit 32, a weight detection unit 33, and a movement control unit 34. The individual communication unit 31 communicates with the linked device 4. The sensor unit 32 acquires detection values ​​from various sensors for autonomous movement. For example, the sensor unit 32 may include an inclination sensor that measures the inclination of the mobile object 3 in the horizontal direction. The weight detection unit 33 detects the current total weight of the mobile object 3. For example, if the mobile object 3 is carrying luggage, the weight detection unit 33 detects the weight of the luggage. The weight detection unit 33 detects the current total weight based on its own weight and the weight of the luggage. The movement control unit 34 controls the movement of the mobile object 3.

[0038] The linking device 4 has, as its functions, a communication unit 41, a linking unit 42, a calculation unit 43, and an execution unit 44. The communication unit 41 communicates with the control panel 2, the mobile object 3, and the detector 10. The linking unit 42 controls notifications for using the elevator device 50 between the mobile object 3 and the control panel 2. The calculation unit 43 calculates the main re-leveling amount, the preliminary re-leveling amount, the additional re-leveling amount, and the final re-leveling amount.

[0039] The calculation unit 43 calculates the amount of sinking or floating due to the load based on the target load and the physical property values ​​of the object assumed to undergo elastic deformation, and sets this as the actual re-leveling amount or the final re-leveling amount. The physical property values ​​of the object include the elastic constant of each object, the length of the main rope 53, etc. For example, the calculation unit 43 sets half of the total weight of the moving object 3 as the weight when a part of the moving object 3 is on the car 54, as the load to be calculated for the actual re-leveling amount. For example, the calculation unit 43 sets the total weight of the moving object 3 as the weight when the entire moving object 3 is on the car 54, as the load to be calculated for the final re-leveling amount.

[0040] The calculation unit 43 calculates the preliminary re-leveling amount so that the value is equal to or less than the allowable step difference of the moving body 3. After calculating the main re-leveling amount, the calculation unit 43 calculates the preliminary re-leveling amount so that the value is equal to or less than the main re-leveling amount. The calculation unit 43 uses necessary information to calculate the additional re-leveling amount each time.

[0041] The calculation unit 43 may calculate each re-leveling amount based on the landing position of the car 54 when the car 54 lands. For example, if the car 54 is moved by the preliminary re-leveling amount and then moved by the main re-leveling amount, the car 54 may be moved by an amount obtained by subtracting the value of the preliminary re-leveling amount that has already been moved from the main re-leveling amount, as the main re-leveling amount.

[0042] When the conditions are met, the execution unit 44 sends commands to the control panel 2 to execute the main re-leveling, preliminary re-leveling, additional re-leveling, and final re-leveling by the main re-leveling amount, preliminary re-leveling amount, additional re-leveling amount, and final re-leveling amount, respectively. That is, the execution unit 44 causes the hoisting machine 51 to execute the re-leveling and raise or lower the car 54.

[0043] The conditions for executing re-leveling differ depending on the functions of each device. The conditions for executing re-leveling by this re-leveling amount can include at least a first condition that the time when the moving object 3 will get into the car 54 can be predicted, and a second condition that the boarding / alighting detection unit 11 can detect that the moving object 3 has gotten into the car 54.

[0044] Next, an example in which releveling is performed in accordance with the first condition will be described with reference to FIG. FIG. 7 is a flowchart showing an example of the operation performed in the elevator system according to the first embodiment.

[0045] For example, when the positioning accuracy calculated by the movement control unit 34 of the moving object 3 is high, releveling according to the first condition is executed. The flowchart in Fig. 7 starts when the moving object 3 decides to use the elevator device 50 to board the car 54. At the start, the moving object 3 is located near the hall B3.

[0046] In step S001, the individual communication unit 31 of the moving body 3 transmits to the linking device 4 a notification that the moving body 3 will board the cage 54, information on its current total weight detected by the weight detection unit 33, and information on the allowable step height of the moving body 3.

[0047] Then, in step S002, the linking device 4 receives a notification and information from the mobile object 3. The linking device 4 transmits a call based on the received notification to the control panel 2. The calculation unit 43 of the linking device 4 calculates the main re-leveling amount based on the received weight. For example, if the received weight is 500 kg, the calculation unit 43 calculates the sinking amount corresponding to 250 kg as the main re-leveling amount. The calculation unit 43 calculates the preliminary re-leveling amount based on the received allowable step. At this time, the calculation unit 43 may further use the main re-leveling amount to calculate the preliminary re-leveling amount.

[0048] Then, in step S003, the control panel 2 stops the car 54 at the landing position of the floor where the moving body 3 is waiting. In this state, the sinking amount of the car 54 is set to 0. The linkage device 4 receives operation information of the car 54 and transmits a boarding instruction to the moving body 3.

[0049] Thereafter, in step S004, the movement control unit 34 estimates the time when part of the moving object 3 will get on the car 54. That is, if the moving object 3 moves on wheels, the movement control unit 34 estimates the time when at least one of the wheels will move from the threshold of hall B3 to the threshold 62 of the car 54 when the entire moving object 3 is present at hall B3. The individual communication unit 31 transmits the estimated time to the linking device 4.

[0050] Thereafter, in step S005, the execution unit 44 of the linking device 4 raises the car 54 by the preliminary re-leveling amount using the hoist 51. That is, the linking device 4 raises the car 54 in advance by the amount of the allowable step until part of the moving body 3 is placed on the car 54.

[0051] Thereafter, in step S006, the execution unit 44 determines whether or not it is time for part of the moving object 3 to get on the car 54. If this time has not come, the operation of step S006 is repeated.

[0052] In step S006, when it is time for part of the moving object 3 to enter the car 54, the operation of step S007 is performed. In step S007, the execution unit 44 raises the car 54 by the actual re-leveling amount at that time. That is, the car 54 rises at approximately the same time as it sinks by the weight of part of the moving object 3. As a result, the step between the landing B3 and the car 54 can be reduced. Furthermore, if the actual re-leveling amount includes the elastic deformation amount of the car floor rubber 59, the car 54 can be raised by the amount of sinking that cannot be detected by the landing position detector 57.

[0053] Thereafter, in step S008, the abnormality detection unit 12 executes the abnormality detection process when the moving object 3 gets on the car 54. The execution unit 44 determines whether or not the abnormality detection unit 12 has detected an abnormality related to the traveling of the moving object 3.

[0054] For example, if the abnormality detection unit 12 is provided in the moving body 3, the abnormality detection process may detect as an abnormality related to traveling, for example, that the tilt of the moving body 3 relative to the horizontal direction is greater than a specified value, that the movement torque of the moving body 3 is out of balance, or that an object has hit the bottom surface of the housing of the moving body 3. In this case, the linking device 4 may consider that the moving body 3 has detected an abnormality related to traveling.

[0055] For example, if the abnormality detection unit 12 is installed in the elevator device 50, the results of the photograph taken by the camera 64 may detect abnormalities in the running of the moving body 3, such as the moving body 3 stopping at an unexpected position or the moving body 3 colliding with a sensor installed on the side of the threshold 62, through the abnormality detection process.

[0056] If no abnormality is detected in step S008, the operation of step S009 is performed. In step S009, the execution unit 44 determines whether the movement of the moving object 3 has been completed, i.e., whether the entire moving object 3 is in the car 54. For example, if a notification that boarding has been completed is received from the moving object 3, it is determined that the movement of the moving object 3 has been completed. If the entire moving object 3 is not yet in the car 54 in step S009, the operation from step S008 onwards is performed.

[0057] If it is determined in step S009 that the entire moving object 3 is in the car 54, that is, after the entire moving object 3 has entered the car 54, the operation of step S010 is performed. In step S010, the execution unit 44 raises the car 54 by the final re-leveling amount. By re-leveling the car 54 by the final re-leveling amount, for example, it becomes easier for another moving object or person to subsequently board the car 54.

[0058] After that, in step S011, the linkage device 4 transmits a notification that boarding has been completed to the control panel 2. The control panel 2 causes the car 54 to depart for the destination floor.

[0059] If an abnormality related to the traveling of the moving object 3 is detected in step S008, the operation of step S012 is performed. In step S012, the execution unit 44 performs additional re-leveling processing. In the additional re-leveling processing, the execution unit 44 raises or lowers the car 54 by the additional re-leveling amount calculated by the calculation unit 43. In this case, the additional re-leveling amount may be a positive value or a negative value. At this time, the additional re-leveling amount may be calculated based on the content detected by the abnormality detection unit 12. For example, the additional re-leveling amount is calculated so that the detection value of the tilt sensor of the moving object 3 approaches the horizontal direction. For example, while the car 54 is moving, feedback may be received each time from an external sensor such as the tilt sensor of the moving object 3, and the additional re-leveling amount may be calculated sequentially.

[0060] Even if the car 54 rises by the amount of this re-leveling, exceeding the allowable step difference, before the moving object 3 gets on in step S007, an abnormality may be detected in step S008. In this case, additional re-leveling is performed in step S012, and the moving object 3 may get on the car 54.

[0061] After the operation of step S012, the operations from step S008 onwards are carried out.

[0062] After the operation of step S011, the operation of the flowchart ends.

[0063] The operation of step S012 may be performed as appropriate after step S007, even if no abnormality is detected in step S008. That is, after a part of the moving object 3 has entered the car 54, additional re-leveling of the car 54 may be performed as appropriate until the entire moving object 3 has entered the car 54. Also, in step S012, the linking device 4 may send a command to the moving object 3 to stop it until the abnormality is resolved.

[0064] In step S004, the calculation unit 43 may calculate the time when part of the moving object 3 will get on the car 54 instead of the movement control unit 34. In this case, the calculation unit 43 may estimate the time when part of the moving object 3 will get on the car 54 based on the current position of the moving object 3, the speed of the moving object 3, and the time when the moving object 3 starts moving. The communication unit 41 acquires each piece of information from the moving object 3. In addition, if a waiting position of the moving object 3 at the hall B3 is set in advance, the waiting position may be used as the position of the moving object 3.

[0065] The operation of the first condition is also performed when the moving object 3 riding in the car 54 gets off the car 54. In this case, the same operation as that shown in the flowchart of Fig. 7 may be performed. Specifically, the following operation is performed.

[0066] In step S001, the individual communication unit 31 transmits a notification that the passenger will disembark from the car 54 instead of a notification that the passenger will board the car 54.

[0067] In step S003, after the car 54 stops at the landing position, the coordination device 4 transmits an alighting instruction to the moving body 3. In this state, the sinking amount of the car 54 is set to zero.

[0068] In step S004, the movement control unit 34 estimates the time when part of the moving body 3 will get off the car 54. That is, the movement control unit 34 estimates the time when at least one of the wheels will first move from the threshold 62 of the car 54 to the threshold of hall B3.

[0069] In step S005, the execution unit 44 lowers the car 54 by the preliminary re-leveling amount using the hoist 51. That is, the car 54 is lowered in advance by the amount of the allowable step before part of the moving body 3 descends from the car 54.

[0070] In step S007, the execution unit 44 determines whether it is time for part of the moving object 3 to dismount from the car 54. If the time has arrived, in step S008, the execution unit 44 lowers the car 54 by the re-leveling amount. That is, the car 54 descends at approximately the same time as the car 54 is lifted up by the weight of part of the moving object 3. As a result, the step between hall B3 and the car 54 can be reduced.

[0071] In step S008, the abnormality detection unit 12 executes an abnormality detection process when the moving object 3 gets off the car 54.

[0072] In step S009, the execution unit 44 determines whether or not disembarking of the moving objects 3 is complete, i.e., whether or not all of the moving objects 3 have disembarked from the car 54. If disembarking of the moving objects 3 is complete, in step S010, the execution unit 44 lowers the car 54 by the final re-leveling amount. By re-leveling the car 54 by the final re-leveling amount, for example, it becomes easier for other moving objects or people to get on or off the car 54.

[0073] Furthermore, as long as control is at least performed to raise or lower the cage 54 by the amount of this re-leveling when passengers board and disembark, one or more of the other re-leveling operations, namely, preliminary re-leveling, additional re-leveling, and final re-leveling, do not have to be performed.

[0074] Next, an example in which releveling is performed in accordance with the second condition will be described with reference to FIG. FIG. 8 is a flowchart showing an example of the operation performed in the elevator system according to the first embodiment.

[0075] For example, when the positioning accuracy calculated by the movement control unit 34 of the moving object 3 is low and the boarding / alighting detection unit 11 is provided in the elevator system 1, releveling according to the second condition is executed. The flowchart in Fig. 8 starts when the moving object 3 decides to use the elevator device 50 to board the car 54. At the start, the moving object 3 is located near the hall B3.

[0076] The operations from step S001 to step S003 are the same as those in the flowchart for condition 1. After step S003, the operation of step S004 is not performed, but the operation of step S005 is performed.

[0077] After step S005, in step S101, the boarding / alighting detection unit 11 performs boarding / alighting detection processing. The execution unit 44 determines whether or not it has been detected that a part of the moving object 3 is getting on the car 54. Note that detecting that a part of the moving object 3 is getting on the car 54 may mean detecting that a part of the moving object 3 is about to get on the car 54, or that a part of the moving object 3 has gotten on the car 54. That is, the boarding / alighting detection processing may detect that a part of the moving object 3 is about to get on the car 54, the moment that the part gets on, or immediately after the part gets on. If it is not detected in step S101 that a part of the moving object 3 is getting on the car 54, the operation of step S101 is repeated.

[0078] In step S101, when it is detected that part of the moving object 3 is getting on the car 54, the operation of step S102 is performed. In step S102, the execution unit 44 raises the car 54 by the main re-leveling amount.

[0079] Thereafter, the operations from step S008 onwards are carried out in the same manner as in the flowchart for the first condition.

[0080] The operation of the second condition is also performed when the moving object 3 riding in the car 54 gets off the car 54. In this case, the same operation as that shown in the flowchart of Fig. 8 may be performed. Specifically, the following operation is performed.

[0081] In step S101, the boarding / alighting detection unit 11 performs boarding / alighting detection processing. The execution unit 44 determines whether or not it has been detected that a part of the moving object 3 has alighted from the car 54. Note that detecting that a part of the moving object 3 has alighted from the car 54 may mean detecting that a part of the moving object 3 is about to alight from the car 54, or that a part of the moving object 3 has alighted from the car 54. That is, the boarding / alighting detection processing may detect that a part of the moving object 3 is about to alight from the car 54, the moment that the part has alighted, or immediately after the part has alighted. If it is not detected in step S101 that a part of the moving object 3 is alighting from the car 54, the operation of step S101 is repeated.

[0082] In step S101, the operation of step S102 is performed when it is detected that part of the moving object 3 is getting off the car 54. In step S102, the execution unit 44 lowers the car 54 by the main re-leveling amount.

[0083] Next, examples of the boarding / alighting detection unit 11 and the boarding / alighting detection process will be described with reference to Figures 9 and 10. In the following first and second examples, the boarding / alighting detection unit 11 is provided in the elevator device 50. Fig. 9 is a diagram showing a first example of a detector in the elevator system according to embodiment 1. Fig. 10 is a diagram showing a second example of a detector in the elevator system according to embodiment 1. Note that the moving object 3 is omitted from illustration in Figs. 9 and 10.

[0084] As shown in Fig. 9, the detector 10 and the boarding / alighting detection unit 11 are multi-beam door sensors provided on the car doors 61. That is, the boarding / alighting detection unit 11 is a sensor 63. The boarding / alighting detection unit 11 can detect that a moving object 3 is passing between the car doors 61. In the boarding / alighting detection process, the boarding / alighting detection unit 11 detects that a part of the moving object 3 is getting on or off the car 54 when a change occurs from a state in which no object is detected between the car doors 61 to a state in which an object is detected.

[0085] As shown in FIG. 10 , the detector 10 and the boarding / alighting detection unit 11 are hall motion sensors provided on the jambs of the landing B3. The boarding / alighting detection unit 11 can detect that the moving object 3 is passing through the jambs, i.e., between the landing doors. In the boarding / alighting detection process, the boarding / alighting detection unit 11 detects that a part of the moving object 3 is getting on the car 54 or that a part of the moving object 3 is getting off the car 54 when the state where the hall motion sensor does not detect an object changes to a state where the object is detected. Note that in the boarding / alighting detection process, the boarding / alighting detection unit 11 may detect that a part of the moving object 3 is getting on the car 54 or that a part of the moving object 3 is getting off the car 54 when the object approaches the threshold 62, based on the detection result of the hall motion sensor.

[0086] In addition to the first and second examples, the detector 10 and the boarding / alighting detection unit 11 may be a contact sensor provided on the threshold 62, or may be a camera 64. For example, the boarding / alighting detection unit 11 may be a contact sensor provided on the side of the threshold 62 on the side of the platform B3. For example, if the detector 10 is a camera 64, the boarding / alighting detection unit 11 may detect that a part of the moving object 3 is getting on or off the car 54, based on the position of the image of the moving object 3 captured by the camera 64.

[0087] The detector 10 may be provided on the moving object 3. For example, the boarding / alighting detection unit 11 is a variety of sensors or a camera used for detecting the movement of the moving object 3. The boarding / alighting detection unit 11 may detect that a part of the moving object 3 has entered the car 54 or that a part of the moving object 3 has exited the car 54 by detecting passage through a boundary portion of the car 54, such as a threshold 62. The boarding / alighting detection unit 11 may also be a radio wave receiver. The radio wave receiver may detect that a part of the moving object 3 has entered the car 54 or that a part of the moving object 3 has exited the car 54, based on the reception strength of a platform radio wave from a beacon provided at hall B3 and a car radio wave provided in the car 54.

[0088] According to the first embodiment described above, the elevator system 1 includes a communication unit 41, a calculation unit 43, and an execution unit 44. The calculation unit 43 calculates the actual re-leveling amount based on the weight transmitted in advance from the moving object 3. When a part of the moving object 3 enters the car 54 or when a part of the moving object 3 dismounts from the car 54, the execution unit 44 raises or lowers the car 54 by the actual re-leveling amount, thereby re-leveling the car 54. For example, when a part of the moving object 3 enters the car 54 or when a part of the moving object 3 dismounts from the car 54, that means that a part of the moving object 3 is in the car 54 and another part of the moving object 3 is not in the car 54. Therefore, no special communication is required when the moving object 3 enters the car 54 or dismounts from the car 54. As a result, the moving object 3 can be quickly loaded onto the car 54 or dismounted from the car 54.

[0089] Furthermore, in the elevator control system described in Patent Document 1, the moving object 3 needs to have special functions such as a function to detect steps and a function to communicate with the elevator device based on the detected steps. In the elevator system 1, the moving object 3 only needs to transmit information indicating its weight. Therefore, even for a moving object 3 with a simple configuration, it is possible to control boarding the elevator device 50.

[0090] Furthermore, releveling of the car 54 is generally not detected until the amount of sinking or rising of the car 54 exceeds a threshold. In this case, if the allowable step of the moving body 3 is smaller than the threshold, there is a risk that operation of the moving body 3 will stop without releveling being performed. In the elevator system 1, the car 54 is moved by this releveling amount regardless of the amount the car 54 actually moves. This makes it possible to prevent the moving body 3 from being unable to run due to a step.

[0091] Furthermore, when the first condition is applicable, the communication unit 41 receives from the moving object 3 the time when part of the moving object 3 will enter the car 54 or the time when part of the moving object 3 will descend from the car 54. Alternatively, the calculation unit 43 estimates the time. The execution unit 44 raises or lowers the car 54 by the actual re-leveling amount at the time. This allows the elevator system 1 to perform the actual re-leveling with more accurate timing.

[0092] The elevator system 1 further includes a boarding / alighting detection unit 11. The boarding / alighting detection unit 11 may be a sensor provided in the moving object 3. The boarding / alighting detection unit 11 may be a sensor provided in the elevator device 50 that detects an object passing through the car door 61. The boarding / alighting detection unit 11 may be a sensor provided in the elevator device 50 that detects that the moving object 3 has passed through the car door 61 from a video captured of the inside of the car 54. When a second condition in which the boarding / alighting detection unit 11 is present is applicable, the execution unit 44 raises or lowers the car 54 by the actual re-leveling amount when boarding or alighting of the moving object 3 is detected. Therefore, even if the use time cannot be calculated under the first condition, the actual re-leveling can be executed at a more accurate timing.

[0093] Furthermore, the execution unit 44 may raise or lower the car 54 by a preliminary re-level amount before part of the moving body 3 gets on or off the car 54. The preliminary re-level is set within the allowable step height of the moving body 3. Therefore, the elevator system 1 can prevent the occurrence of a step height in advance within a range where the moving body 3 can get on or off.

[0094] Furthermore, after executing this re-leveling, the execution unit 44 raises or lowers the car 54 by the additional re-leveling amount. In particular, the calculation unit 43 may calculate the additional re-leveling amount so that the detection value of the tilt sensor of the moving object 3 approaches the horizontal direction. Therefore, even if a step of an unexpected amount occurs after part of the moving object 3 gets on or off the car 54, the elevator system 1 can control the car 54 to eliminate the step.

[0095] Furthermore, when an abnormality related to the traveling of the moving body 3 is detected, the execution unit 44 raises or lowers the car 54 by the additional re-leveling amount. The abnormality may be detected by the abnormality detection unit 12 provided in the moving body 3. Therefore, the elevator system 1 can particularly detect a step that may cause an abnormality in the traveling of the moving body 3, and can control the car 54 to eliminate the step.

[0096] Furthermore, the calculation unit 43 calculates, as the main re-leveling amount, the amount of sinking of the car 54 when part of the moving object 3 is on the car 54 and the other part of the moving object 3 is not on the car 54. Furthermore, the calculation unit 43 calculates, as the final re-leveling amount, the amount of sinking when the entire moving object 3 is on the car 54. The execution unit 44 moves the car 54 so that the car 54 rises or falls by the final re-leveling amount from the landing position, as the final re-leveling. Therefore, the elevator system 1 can adjust the position of the car 54 so that objects other than the moving object 3 can easily get on and off the car 54.

[0097] Embodiment 2 Fig. 11 is a functional block diagram of an elevator system according to embodiment 2. Note that parts that are the same as or equivalent to parts in embodiment 1 are given the same reference numerals, and a description of these parts will be omitted.

[0098] In the second embodiment, the elevator system 1 further uses a scale device 65 provided in the car 54. The scale device 65 measures the weight of an object placed on the floor plate 60 as a scale value.

[0099] For example, the calculation unit 43 may use the scale value measured by the scale device 65 when calculating the additional releveling amount. As an example, in step S012 in the flowchart of Fig. 7, the calculation unit 43 calculates the additional releveling amount so that the current scale value of the scale device 65 approaches half the value of the total weight of the movable body 3. This is because, for example, if it is assumed that half of the multiple wheels of the movable body 3 are on the car 54 but the scale value is less than half of the total weight, there is a possibility that the bottom surface of the housing of the movable body 3 is resting on one of the thresholds.

[0100] For example, the calculation unit 43 may predict the predicted time transition based on information on the total weight of the moving object 3 and information on the time when part of the moving object 3 gets on the car 54 or the time when part of the moving object 3 gets off the car 54. The predicted time transition indicates the time transition of the scale value of the weighing device 65 changing from a certain base time until the moving object 3 gets on the car 54 or gets off the car 54. In this case, the abnormality detection unit 12 detects an abnormality related to the traveling of the moving object 3 when the actual time transition of the scale value measured by the weighing device 65 diverges from the predicted time transition. For example, when the difference between the scale value predicted in the predicted time transition and the scale value at the actual time transition is greater than a specified threshold, the abnormality detection unit 12 determines that the two time transitions diverge.

[0101] When an abnormality is detected in this way, the calculation unit 43 may calculate the additional re-leveling amount so that the current weighed value of the weighing device 65 approaches the value indicated by the predicted time transition.

[0102] According to the second embodiment described above, the calculation unit 43 calculates the additional re-leveling amount so that the weighing value of the scale device 65 approaches half the value of the weight received from the moving body 3. Therefore, the elevator system 1 can effectively eliminate the state in which the moving body 3 is in contact with a step.

[0103] The calculation unit 43 also calculates a predicted time transition. The calculation unit 43 calculates the amount of additional releveling so that the current weighing value of the weighing device 65 approaches the value indicated by the predicted time transition. In particular, when performing additional releveling, the execution unit 44 raises or lowers the car 54 until the weighing value reaches a value close to the predicted time transition. Therefore, the elevator system 1 can perform additional releveling so that the moving body 3 assumes the expected posture.

[0104] Next, an example of hardware constituting the linked device 4 will be described with reference to FIG. FIG. 12 is a hardware configuration diagram of the linking device of the elevator system according to the first or second embodiment.

[0105] Each function of the linked device 4 may be realized by a processing circuit. For example, the processing circuit may include at least one processor 100a and at least one memory 100b. For example, the processing circuit may include at least one dedicated hardware 200.

[0106] When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the linked device 4 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in the at least one memory 100b. The at least one processor 100a realizes each function of the linked device 4 by reading and executing the program stored in the at least one memory 100b. The at least one processor 100a is also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. For example, the at least one memory 100b may be a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD.

[0107] When the processing circuit includes at least one dedicated hardware 200, the processing circuit may be realized, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the cooperating device 4 may be realized by a processing circuit. For example, each function of the cooperating device 4 may be realized collectively by a processing circuit.

[0108] Some of the functions of the linked device 4 may be implemented by dedicated hardware 200, and the remaining functions may be implemented by software or firmware. For example, the function of the execution unit 44 making various determinations may be implemented by a processing circuit as the dedicated hardware 200, and functions other than the function of the execution unit 44 making various determinations may be implemented by at least one processor 100a reading and executing a program stored in at least one memory 100b.

[0109] In this way, the processing circuitry realizes the functions of the linked device 4 by using hardware 200, software, firmware, or a combination of these.

[0110] Although not shown, the functions of the control panel 2 and the mobile object 3 are also realized by processing circuits equivalent to the processing circuits that realize the functions of the linking device 4.

[0111] At least some of the functions of the linked device 4 may be implemented on a cloud server. In this case, the processing circuit is composed of multiple partial circuits. The multiple partial processing circuits are provided in multiple devices that make up the cloud server, respectively. The multiple devices that make up the cloud server may each be provided in a different building.

[0112] Furthermore, at least some of the functions of the linking device 4 may be provided in the control panel 2. For example, when all of the functions of the linking device 4 are provided in the control panel 2, the elevator system 1 may be realized by direct communication between the control panel 2 and the moving body 3.

[0113] Note that a mobile body control device that controls the movement of the mobile body 3 may be provided between the coordinating device 4 and the mobile body 3. In this case, the coordinating device 4 receives information about the mobile body 3 from the mobile body control device. The coordinating device 4 transmits information to the mobile body 3 via the mobile body control device.

[0114] To summarize the above explanation, possible configurations of the technology according to the present disclosure include the configurations listed below as appendices. (Appendix 1) a communication unit that receives, from a moving body that moves autonomously, a notification that the moving body is getting on or off a car of an elevator device and information indicating a weight of the moving body; a calculation unit that calculates a main re-level amount of the car based on the received weight of the moving body; an execution unit that raises or lowers the car by the re-leveling amount using a hoist that drives the car when a part of the moving body gets on or off the car; Elevator system with. (Appendix 2) the communication unit receives, from the moving object, a time when a part of the moving object gets on the car or a time when the moving object gets off the car; the execution unit raises or lowers the car by the re-leveling amount at a time when a part of the moving body gets on the car or a time when a part of the moving body gets off the car, which is received from the moving body; 10. The elevator system of claim 1. (Appendix 3) the calculation unit estimates a time when a part of the moving object will get on the car or a time when a part of the moving object will get off the car based on a position of the moving object, a speed of the moving object, and a time when the moving object starts moving; the execution unit raises or lowers the car by the re-leveling amount at the time when the part of the moving body gets on the car or the time when the part of the moving body gets off the car, which is estimated by the calculation unit; 10. The elevator system of claim 1. (Appendix 4) a boarding / alighting detection unit that detects that a part of the moving object gets on or off the car; Further provided with the execution unit raises or lowers the car by the re-leveling amount when the boarding / alighting detection unit detects that a part of the moving object is getting on or off the car. 10. The elevator system of claim 1. (Appendix 5) The boarding / disembarking detection unit is a sensor provided in the moving body. 10. The elevator system of claim 4. (Appendix 6) the boarding / alighting detection unit is a sensor provided in the elevator device and detects that an object has passed through a car door of the car. 10. The elevator system of claim 4. (Appendix 7) the boarding / alighting detection unit is provided in the elevator device and detects that the moving object has passed through a car door of the car from an image captured of the inside of the car. 10. The elevator system of claim 4. (Appendix 8) the communication unit receives, from the moving body, information on an allowable floor step, which is the size of a floor step that the moving body is allowed to tolerate when moving; the execution unit causes the hoist to raise or lower the car by a preliminary re-leveling amount set within the allowable step difference before a part of the moving body gets on the car or before a part of the moving body gets off the car, 8. The elevator system of any one of claims 1 to 7. (Appendix 9) the execution unit causes the hoist to raise or lower the car by an additional re-leveling amount after the car has risen or lowered by the main re-leveling amount; 9. The elevator system of any one of claims 1 to 8. (Appendix 10) the communication unit receives a detection value of a tilt sensor that measures the tilt of the moving object relative to a horizontal direction; the calculation unit calculates the additional re-leveling amount so that the detection value of the tilt sensor approaches a horizontal direction. 10. The elevator system of claim 9. (Appendix 11) the calculation unit calculates the additional re-leveling amount so that the scale value of the scale device provided in the car approaches half the value of the weight received from the moving body. 10. The elevator system of claim 9. (Appendix 12) If the moving body detects an abnormality related to its running after the car has been raised or lowered by the main re-leveling amount, the execution unit raises or lowers the car by the additional re-leveling amount based on the abnormality detected in the moving body. 12. The elevator system of any one of claims 9 to 11. (Appendix 13) an abnormality detection unit provided in the elevator device, which detects an abnormality related to the travel of the moving object when the moving object gets on or off the car; Further provided with If the abnormality detection unit detects an abnormality after the car has risen or fallen by the main re-leveling amount, the execution unit raises or lowers the car by the additional re-leveling amount. 13. The elevator system of any one of claims 9 to 12. (Appendix 14) the communication unit receives a time when a part of the moving object gets on the car or a time when a part of the moving object gets off the car, the calculation unit predicts a predicted time transition of the weight inside the car that changes until the moving object gets on the car or until the moving object gets off the car, based on the weight and time received from the moving object; When the predicted time transition calculated by the calculation unit deviates from the time transition of the weighing value measured by the weighing device of the car, the execution unit raises or lowers the car by the additional re-leveling amount. 14. The elevator system of any one of claims 9 to 13. (Appendix 15) The execution unit raises or lowers the car until the weighing value measured by the weighing device becomes a value close to the predicted time transition, as the additional re-leveling amount. 15. The elevator system of claim 14. (Appendix 16) The calculation unit calculates, as the main re-leveling amount, an amount by which the car sinks when a part of the moving body is on the car and another part of the moving body is not on the car. 16. The elevator system of any one of claims 1 to 15. (Appendix 17) the calculation unit calculates, as a final re-leveling amount, an amount by which the car sinks when all of the moving objects are on the car; the execution unit, after all of the moving bodies have loaded onto the car or after all of the moving bodies have dismounted from the car, moves the car by the hoist so that the car is raised or lowered by the final re-leveling amount from a landing position; 17. The elevator system of claim 16. [Explanation of symbols]

[0115] 1 elevator system, 2 control panel, 3 moving body, 4 linkage device, 10 detector, 11 boarding / alighting detection unit, 12 abnormality detection unit, 31 individual communication unit, 32 sensor unit, 33 weight detection unit, 34 movement control unit, 41 communication unit, 42 linkage unit, 43 calculation unit, 44 execution unit, 50 elevator device, 51 hoisting machine, 52 vibration isolation rubber, 53 main rope, 54 car, 55 shackle spring, 56 landing plate, 57 landing position detector, 58 frame body, 59 car floor rubber, 60 floor plate, 61 car door, 62 threshold, 63 sensor, 64 camera, 65 weighing device, 100a processor, 100b memory, 200 Hardware, B Building, B1 Hoistway, B2 Machine Room, B3 Landing

Claims

1. a communication unit that receives, from a moving body that moves autonomously, a notification that the moving body is getting on or off a car of an elevator device and information indicating a weight of the moving body; a calculation unit that calculates a main re-level amount of the car based on the received weight of the moving body; an execution unit that raises or lowers the car by the re-leveling amount using a hoist that drives the car when a part of the moving body gets on or off the car; Elevator system with.

2. the communication unit receives, from the moving object, a time when a part of the moving object gets on the car or a time when the moving object gets off the car; the execution unit raises or lowers the car by the re-leveling amount at a time when a part of the moving body gets on the car or a time when a part of the moving body gets off the car, which is received from the moving body; 10. The elevator system of claim 1.

3. the calculation unit estimates a time when a part of the moving object will get on the car or a time when a part of the moving object will get off the car based on a position of the moving object, a speed of the moving object, and a time when the moving object starts moving; the execution unit raises or lowers the car by the re-leveling amount at the time when the part of the moving body gets on the car or the time when the part of the moving body gets off the car, which is estimated by the calculation unit; 10. The elevator system of claim 1.

4. a boarding / alighting detection unit that detects that a part of the moving object gets on or off the car; Further provided with the execution unit raises or lowers the car by the re-leveling amount when the boarding / alighting detection unit detects that a part of the moving object is getting on or off the car.

10. The elevator system of claim 1.

5. The boarding / disembarking detection unit is a sensor provided in the moving body.

5. The elevator system of claim 4.

6. the boarding / alighting detection unit is a sensor provided in the elevator device and detects that an object has passed through a car door of the car.

5. The elevator system of claim 4.

7. the boarding / alighting detection unit is provided in the elevator device and detects that the moving object has passed through a car door of the car from an image captured of the inside of the car.

5. The elevator system of claim 4.

8. the communication unit receives, from the moving body, information on an allowable floor step, which is the size of a floor step that the moving body is allowed to tolerate when moving; the execution unit causes the hoist to raise or lower the car by a preliminary re-leveling amount set within the allowable step difference before a part of the moving body gets on the car or before a part of the moving body gets off the car, An elevator system according to any one of claims 1 to 7.

9. the execution unit causes the hoist to raise or lower the car by an additional re-leveling amount after the car has risen or lowered by the main re-leveling amount; An elevator system according to any one of claims 1 to 7.

10. the communication unit receives a detection value of a tilt sensor that measures the tilt of the moving object relative to a horizontal direction; the calculation unit calculates the additional re-leveling amount so that the detection value of the tilt sensor approaches a horizontal direction.

10. The elevator system of claim 9.

11. the calculation unit calculates the additional re-leveling amount so that the scale value of the scale device provided in the car approaches half the value of the weight received from the moving body.

10. The elevator system of claim 9.

12. If the moving body detects an abnormality related to its running after the car has been raised or lowered by the main re-leveling amount, the execution unit raises or lowers the car by the additional re-leveling amount based on the abnormality detected in the moving body.

10. The elevator system of claim 9.

13. an abnormality detection unit provided in the elevator device, which detects an abnormality related to the travel of the moving object when the moving object gets on or off the car; Further provided with If the abnormality detection unit detects an abnormality after the car has risen or fallen by the main re-leveling amount, the execution unit raises or lowers the car by the additional re-leveling amount.

10. The elevator system of claim 9.

14. the communication unit receives a time when a part of the moving object gets on the car or a time when a part of the moving object gets off the car, the calculation unit predicts a predicted time transition of the weight inside the car that changes until the moving object gets on the car or until the moving object gets off the car, based on the weight and time received from the moving object; When the predicted time transition calculated by the calculation unit deviates from the time transition of the weighing value measured by the weighing device of the car, the execution unit raises or lowers the car by the additional re-leveling amount.

10. The elevator system of claim 9.

15. The execution unit raises or lowers the car until the weighing value measured by the weighing device becomes a value close to the predicted time transition, as the additional re-leveling amount.

15. The elevator system of claim 14.

16. The calculation unit calculates, as the main re-leveling amount, an amount by which the car sinks when a part of the moving body is on the car and another part of the moving body is not on the car. An elevator system according to any one of claims 1 to 7.

17. the calculation unit calculates, as a final re-leveling amount, an amount by which the car sinks when all of the moving objects are on the car; the execution unit, after all of the moving bodies have loaded onto the car or after all of the moving bodies have dismounted from the car, moves the car by the hoist so that the car is raised or lowered by the final re-leveling amount from a landing position; 17. The elevator system of claim 16.

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