Elevator control system and cleaning control method

Abstract

To further improve the efficiency of cleaning operations using elevators with autonomous mobile units. [Solution] In the elevator control system of the embodiment, the elevator server comprises a control device and an autonomous mobile unit, and a first communication unit that transmits a cleaning command to a designated floor. The control device comprises a storage unit that stores the time the autonomous mobile unit boards the elevator car, the time it disembarks from the elevator car, the weight of the elevator car when the autonomous mobile unit boards the elevator car, and the weight of the elevator car when the autonomous mobile unit disembarks from the elevator car. The control device comprises a prediction unit that predicts the cleaning completion time until the cleaning process by the autonomous mobile unit is completed, based on a first time between the boarding time and the disembarking time, the weight of the elevator car when boarding, and the weight of the elevator car when disembarking, all stored in the storage unit. The autonomous mobile unit comprises a travel control unit that, upon receiving a cleaning command from the elevator server, boards the elevator car and moves to the designated floor, and a cleaning processing unit that performs the cleaning process at the designated floor.

Description

Technical Field

[0001] Embodiments of the present invention relate to an elevator control system and a cleaning control method.

Background Art

[0002] In recent years, autonomous mobile bodies such as robots have realized cleaning work in buildings such as buildings and condominiums using elevators. For example, in an elevator system that performs efficient cleaning management using a cleaning robot, a technique is known in which the elapsed time since the previous cleaning is measured, and the destination floor and the elevator car to be assigned are determined based on the measured elapsed time (see, for example, Patent Document 1).

[0003] Also, a technique is known in which the contamination level inside the elevator car of each elevator unit is obtained from a contamination level calculation unit inside the elevator car, and based on the obtained contamination level, the cleaning time of each elevator unit is determined, and a cleaning command is sent to the unit determined to be the cleaning time (see, for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Currently, various autonomous mobile robots for cleaning, including those for general households, offices, and those with AI capabilities, are being introduced to reduce the workload of cleaning staff. However, the number of cleaning staff is projected to continue to decline. On the other hand, with the ongoing reconstruction of buildings in urban areas, the demand for cleaning in these increasingly sophisticated and taller buildings is expected to exceed existing demand, making the shortage of cleaning staff a significant challenge. For these reasons, further efficiency improvements in cleaning operations using elevators with autonomous mobile robots are desired. [Means for solving the problem]

[0006] The elevator control system of the embodiment comprises: an autonomous mobile body capable of autonomously moving into an elevator car installed in a building; a control device that manages the movement of the autonomous mobile body using the elevator car and the elevator, which can carry the autonomous mobile body and a person; and an elevator server connected to the control panel by a network and controlling the raising and lowering of the elevator cars of all elevators in the building, wherein the elevator server comprises a first communication unit that transmits a cleaning command at a specified floor to the control device and the autonomous mobile body, and the control device records the time the autonomous mobile body boards the elevator car, the time it disembarks from the elevator car, the weight of the elevator car when the autonomous mobile body boards the elevator car and the time the autonomous mobile body disembarks from the elevator car The system includes a storage unit that stores the weight of the elevator car when passengers disembark, a second communication unit that receives the cleaning command from the elevator server, a prediction unit that predicts the time until the cleaning process by the autonomous mobile unit is completed based on a first time stored in the storage unit between the boarding time and the disembarking time, the weight of the elevator car when boarding, and the weight of the elevator car when disembarking, and a first control unit that controls the movement of the elevator car based on the predicted cleaning completion time, and the autonomous mobile unit includes a third communication unit that receives the cleaning command from the elevator server, a travel control unit that boards the elevator car and moves to the designated floor when it receives the cleaning command from the elevator server, and a cleaning processing unit that performs the cleaning process at the designated floor. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 shows an example of the overall configuration of an elevator control system according to an embodiment. [Figure 2] Figure 2 shows an example of the functional configuration of a robot control panel according to this embodiment. [Figure 3] Figure 3 shows an example of historical data according to the embodiment. [Figure 4] Figure 4 is a block diagram showing an example of the functional configuration of a control panel according to this embodiment. [Figure 5] Figure 5 is a block diagram showing an example of the functional configuration of a server in the elevator cloud according to this embodiment. [Figure 6] Figure 6 is a block diagram showing an example of the functional configuration of a server in a robot cloud according to this embodiment. [Figure 7] Figure 7 is a block diagram showing an example of the functional configuration of a robot according to this embodiment. [Figure 8] Figure 8 is a sequence diagram showing an example of the overall flow of the elevator control process according to this embodiment. [Figure 9] Figure 9 is a schematic diagram illustrating the overall flow of the elevator control process according to this embodiment. [Figure 10] Figure 10 is a flowchart showing an example of the robot-side cleaning process procedure according to the embodiment. [Figure 11] Figure 11 is a flowchart showing an example of the procedure for cleaning the elevator side according to the embodiment. [Figure 12] Figure 12 is a flowchart showing an example of the procedure (continued) for cleaning the elevator side according to the embodiment. [Modes for carrying out the invention]

[0008] The embodiments will be described below with reference to the drawings.

[0009] (Embodiment) Figure 1 is a diagram showing an example of the overall configuration of the elevator control system 1 according to this embodiment. As shown in Figure 1, the elevator control system 1 of this embodiment mainly comprises control panels 100A and 100B provided for each of the multiple elevators 2A and 2B, robot control panels 170A and 170B provided for each of the multiple elevators 2A and 2B, controllers 150A and 150B provided for each of the multiple elevators 2A and 2B, a control room 160, a server 210 in the elevator cloud 200, a server 310 in the robot cloud 300, a monitoring center 400, and an elevator company 700.

[0010] In this embodiment, multiple elevators 2A and 2B are installed in building 3 (an example of a building), such as an apartment building. Although Figure 1 shows two elevators 2A and 2B, the configuration may also include only one elevator, or three or more elevators.

[0011] Each of the elevators 2A and 2B is equipped with an elevator car 50A and 50B within its respective hoistway 20A and 20B. In addition, each hoistway 20A and 20B is equipped with a hoisting machine and counterweights (not shown). The elevator cars 50A and 50B and the counterweights are supported so as to be able to move up and down on a pair of guide rails (not shown) erected within the hoistway 20A and 20B, and move up and down via ropes.

[0012] In addition to passengers (5A), the elevator cars 50A and 50B can also accommodate autonomous mobile robots (500A and 500B).

[0013] The elevator cars 50A and 50B are equipped with control panels 4A and 4B, cameras 7A and 7B, and load sensors 8A and 8B. The operation panels 4A and 4B receive various operations from the user and also provide various notifications to the car 50. The operation panels 4A and 4B are provided with push buttons, non-contact sensors, speakers, liquid crystal display units, etc. (none of which are shown in the drawings) for designating the destination floor and opening and closing the doors of the cars 50A and 50B. Further, the operation panels 4A and 4B are connected to the control panels 100A and 100B by wire or wirelessly. When the user 5A or 5B presses the push button for the destination floor or when detected by the non-contact sensor, the destination floor call is sent to the control panels 100A and 100B.

[0014] Here, the destination floor call is operation data performed by the user inside the car 50 to move the car 50 to the desired destination floor. The destination floor is specified in the destination floor call.

[0015] Also, in the present embodiment, the destination floor call for the robot is transmitted from the server 210 in the elevator hoistway 200 to the control panel 100 via the controller 150. The destination floor call for the robot specifies the robot ID of the robot 500 that wishes to use the elevator 2, the departure floor, and the destination floor (also referred to as the designated floor or the target floor), and is operation data for moving the car 50 to the designated departure floor and making it go from the departure floor to the designated destination floor.

[0016] The landing call is operation data performed by the user at the landing to make the car 50 going in either the up or down direction arrive at that landing. The landing call specifies the direction of travel and the floor where the landing call is made (i.e., the departure floor).

[0017] The cameras 7A and 7B photograph the inside of the cars 50A and 50B and send the captured images to the control panels 100A and 100B. Also, when the doors of the cars 50A and 50B are open at the landing, the cameras 7A and 7B can photograph the landing and send the captured images to the control panels 100A and 100B.

[0018] Load sensors 8A and 8B are installed on the bottom of the elevator cars 50A and 50B and detect the weight of the elevator car 50. If a user 5A or robots 500A and 500B are inside the elevator car 50A and 50B, load sensors 8A and 8B detect the weight of the elevator car 50 itself, plus the weight of the user 5A and the robots 500A and 500B. Load sensors 8A and 8B send the detected weight as a detection signal to the control panels 100A and 100B.

[0019] Landing areas are provided on each floor. These landing areas are where users and robots 500 wait for the arrival of elevator cars 50A and 50B of elevators 2A and 2B. Cameras 9 are installed on the walls of the landing areas on each floor. Cameras 9 capture images of the landing area and transmit the captured images to control panels 100A and 100B.

[0020] Inside each of the elevator shafts 20A and 20B are installed control panels 100A and 100B, robot control panels 170A and 170B, and controllers 150A and 150B. Control panels 100A and 100B are connected wirelessly or via wire to operation panels 4A and 4B installed in elevator cars 50A and 50B.

[0021] Control panels 100A and 100B control the operation of elevator cars 50A and 50B within elevators 2A and 2B, respectively. Control panels 100A and 100B are connected to controllers 150A and 150B, respectively, by wired or wireless connection. Details of control panels 100A and 100B will be described later.

[0022] Robot control panels 170A and 170B, respectively, manage the movement of robots 500A, 500B, and 500C using elevators 2A and 2B. Each of the robot control panels 170A and 170B is connected wirelessly or via wired to control panels 100A and 100B and controllers 150A and 150B. Details of robot control panels 170A and 170B will be described later.

[0023] Controllers 150A and 150B are connected via a network to server 210 in the elevator cloud 200. Controllers 150A and 150B are intermediary devices equipped with interface and hub functions to control communication between control panels 100A and 100B and robot control panels 170A and 170B and server 210, and to mediate various signals exchanged between control panels 100A and 100B and robot control panels 170A and 170B and server 210. Controllers 150A and 150B are configured as computers equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc.

[0024] The building manager is stationed in control room 160 and gives various instructions to control panels 100A and 100B. The manager in control room 160 also receives various instructions from control panels 100A and 100B via email or other means through a PC or terminal device.

[0025] Furthermore, Building 3 has a waiting area (not shown) in a corner, for example, on the lobby floor, where robots 500A, 500B, and 500C that are not performing their duties can wait. In addition, Building 3 has a waste disposal area (also called a collection area) (not shown) in an inconspicuous location, for example, on the lobby floor, for collecting waste.

[0026] Server 210 in the elevator cloud 200 issues various control instructions to control panels 100A and 100B via controllers 150A and 150B for elevator cars 50A and 50B of elevators 2A and 2B, and also receives various instructions and data from control panels 100A and 100B via controllers 150A and 150B.

[0027] Furthermore, the server 210 within the elevator cloud 200 issues various control instructions to the robot control panels 170A and 170B via controllers 150A and 150B for the robots 500A, 500B, and 500C that utilize elevators 2A and 2B. It also receives various instructions and data from the robot control panels 170A and 170B via controllers 150A and 150B.

[0028] Furthermore, the server 210 within the elevator cloud 200 is connected via the network to the monitoring center 400 (internal server) and the server 310 in the robot cloud 300.

[0029] The monitoring center 400 houses an internal server (not shown). This internal server is located within an affiliated company of elevator 11 and collects information necessary for the maintenance and remote monitoring of elevator 2 from elevators 2A and 2B. This allows maintenance personnel to address any malfunctions in elevators 2A and 2B by referencing the maintenance information collected on the internal server at the monitoring center 400. Furthermore, when functions and services are executed via the elevator cloud 200, it is possible to access the internal server at the monitoring center 400 as needed to access building and elevator information, and for maintenance personnel to obtain information necessary for elevator management.

[0030] The server 310 of the robot cloud 300 receives various instructions and data from the server 210 of the elevator cloud 200. The server 310 of the robot cloud 300 is connected via a network to multiple robots 500A, 500B, and 500C within building 3, and sends various instructions to each of the multiple robots 500A, 500B, and 500C. Details regarding the server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300 will be described later.

[0031] Elevator Company 700 is a company that provides elevator 2, and within Elevator Company 700, there is a server 710.

[0032] The number of elevators is not limited, and there are three or more elevators in Building 3. Therefore, the number of hoistways 20A, 20B, elevator cars 50A, 50B, control panels 100A, 100B, robot control panels 170A, 170B, and controllers 150A, 150B will also vary depending on the number of elevators 2A, 2B. Here, if we do not distinguish between multiple elevators 2A, 2B, multiple hoistways 20A, 20B, multiple elevator cars 50A, 50B, multiple control panels 100A, 100B, multiple robot control panels 170A, 170B, and multiple controllers 150A, 150B, we will refer to them as elevator 2, hoistway 20, elevator car 50, control panel 100, robot control panel 170, and controller 150. When control panels 4A and 4B, cameras 7A and 7B, and load sensors 8A and 8B are not distinguished, they shall be referred to as control panel 4, camera 7, and load sensor 8.

[0033] Next, we will explain the details of the robot control panel 170. Figure 2 shows an example of the functional configuration of the robot control panel 170 according to this embodiment. As shown in Figure 2, the robot control panel 170 according to this embodiment is wirelessly or wiredly connected to the camera 7 and load sensor 8 inside the elevator car 50. The robot control panel 170 also mainly comprises a communication unit 171, a control unit 172, a prediction unit 173, a recording unit 174, a decision unit 176, and a storage unit 175, as shown in Figure 2. Here, the robot control panel 170 is an example of a control device and a control panel for an autonomous mobile device.

[0034] The memory unit 175 is a storage medium such as an HDD (Hard Disc Drive) or an SSD (Solid State Drive). As shown in Figure 2, the memory unit 175 stores history data 1751. The memory unit 175 also stores the time when garbage disposal was completed and the time when cleaning was completed.

[0035] The history data 1751 is log data recorded by the recording unit 174, described later, each time the robot 500 boards the elevator car 50 and each time the robot 500 disembarks from the elevator car 50.

[0036] Figure 3 shows an example of the historical data 1751 according to this embodiment. As shown in Figure 3, the history data 1751 records the date, day of the week, boarding time, boarding weight, disembarking time, and disembarking weight. The boarding weight is the weight of the elevator car 50 obtained from the load sensor 8 after the robot 500 boarded the elevator car 50. The disembarking weight is the weight of the elevator car 50 obtained from the load sensor 8 after the robot 500 disembarked from the elevator car 50. The garbage disposal completion time and cleaning completion time are predicted by the prediction unit 173 (described later) and stored in the storage unit 175.

[0037] Returning to Figure 2, the communication unit 171 communicates with the control panel 100 and the server 210 of the elevator cloud 200. In this embodiment, the communication unit 171 receives cleaning commands from the server 210 of the elevator cloud 200, via the controller 150, including the designated floor which is the floor to be cleaned. The communication unit 171 is an example of a second communication unit.

[0038] Each time the robot 500 boards the elevator car 50, the recording unit 174 records the time the robot 500 boards the elevator car 50 and the weight of the elevator car 50 at the time the robot 500 boards the elevator car 50 in the history data 1751 of the storage unit 175. Each time the robot 500 disembarks from the elevator car 50, the recording unit 174 records the time the robot disembarks from the elevator car 50 and the weight of the elevator car 50 at the time the robot 500 disembarks in the history data 1751 of the storage unit 175.

[0039] The prediction unit 173 predicts the cleaning completion time based on the first time between boarding time and alighting time, the boarding weight, and the alighting weight, which are registered in the history data 1751 of the storage unit 175. Here, the cleaning completion time is the time from when the cleaning process by the robot 500 starts until it is completed.

[0040] In this case, if elevator 2 is operating in a robot-only mode, with only robot 500 in the elevator car 50, the difference between the weight at boarding and the weight at disembarking becomes the weight of robot 500, and if robot 500 is carrying garbage, the weight of the garbage is also included. The weight of robot 500 itself is predetermined. Therefore, the prediction unit 173 can determine the weight of the garbage by subtracting the predetermined weight of robot 500 from the difference between the weight at boarding and the weight at disembarking.

[0041] In other words, the prediction unit 173 predicts a first time as the cleaning completion time according to the date, day of the week, time of day, and weight, and stores the cleaning completion time for each date, day of the week, time of day, and weight in the storage unit 175.

[0042] Furthermore, when the robot 500 is instructed to dispose of garbage, the prediction unit 173 predicts the garbage disposal completion time based on the first time between boarding time and disembarking time, the weight at boarding time, and the weight at disembarking time, which are registered in the history data 1751 of the storage unit 175. Here, the garbage disposal completion time is the time from when the garbage disposal process by the robot 500 starts until it is completed. The prediction unit 173 predicts the first time as the garbage disposal completion time according to the weight of the garbage calculated as described above when the garbage is disposed of, and stores the predicted garbage disposal time in the storage unit 175 for each day, day of the week, time of day, and weight.

[0043] The determination unit 176 determines whether the amount of garbage carried by the robot 500 is below a threshold, based on the weight of the elevator car 50 when the robot 500 boards it. Specifically, the determination unit 176 determines the weight of the garbage, i.e., the amount of garbage, to be the weight of the elevator car 50 detected by the load sensor 8 when the robot 500 boards it, minus a predetermined weight of the elevator car 50 itself and a predetermined weight of the robot 500.

[0044] When the communication unit 171 receives a cleaning command from the server 210 in the elevator cloud 200, the control unit 172 transmits a movement instruction for the elevator car 50 to the control panel 100 via the communication unit 171. The control unit 172 also transmits various control instructions for the elevator car 50 to the control panel 100 via the communication unit 171.

[0045] The control unit 172 instructs the control panel 100 to move the elevator car 50 to a designated floor included in the cleaning command if the amount of garbage carried by the robot 500 is below a threshold. If the amount of garbage carried by the robot 500 is greater than the threshold, the control unit 172 instructs the control panel 100 to move the elevator car 50 to the floor where the garbage is disposed of, and commands the robot 500 to dispose of the garbage. The control unit 172 is an example of a second control unit.

[0046] Next, we will describe the details of the control panel 100. Figure 4 is a block diagram showing an example of the functional configuration of a control panel 100 according to an embodiment. The control panel 100 is an example of a control device. The control panel 100 has a typical computer configuration and, as shown in Figure 4, mainly comprises a control unit 120, a communication unit 102, and a storage unit 110.

[0047] Furthermore, as shown in Figure 4, the control panel 100 is connected by wire or wireless to the load sensor 8, the camera 7 inside the elevator car 50, and the landing camera 9. The load sensor 8 (8A, 8B) is installed in the elevator car 50 as described above. The camera 7 is installed near the ceiling of the elevator car 50 so as to be able to capture images of the inside of the elevator car 50 and, when the doors of the elevator car 50 are open, the landing.

[0048] The storage unit 110 is a storage medium (i.e., a memory device) such as ROM or RAM. The storage unit 110 stores a management database 111 (hereinafter referred to as "management DB 111").

[0049] The management DB 111 is a database containing various data necessary for using elevator 2. For example, the management DB 111 registers the robot IDs of robots 500 that can ride elevator 2 controlled by the control panel 100. Here, the robot ID is information used to identify robot 500.

[0050] The communication unit 102 consists of a communication device having a predetermined communication protocol and performs communication processing with the controller 150. Specifically, the communication unit 102 sends and receives various data with other control panels 100 and the server 210 of the elevator cloud 200 via the controller 150. The communication unit 102 also sends and receives various instructions and notifications with the administrator's mobile terminal or PC in the control room 160.

[0051] Furthermore, the communication unit 102 receives landing calls, including the destination floor, from the elevator cloud 200 server 210.

[0052] Furthermore, the communication unit 102 performs communication processing with the robot control panel 170. In this embodiment, the communication unit 102 receives a command from the robot control panel 170 to move the elevator car 50 to a designated floor based on a cleaning command. In addition, the communication unit 102 receives various movement instructions and control instructions for the elevator car 50 from the robot control panel 170. The communication unit 102 is an example of a fourth communication unit.

[0053] The control unit 120 consists of a hardware processor (CPU). As shown in Figure 2, the control unit 120 mainly comprises a normal operation control unit 121 and a robot-linked operation control unit 122.

[0054] The normal operation control unit 121 controls normal operation. Normal operation refers to operation in which only people are riding in the elevator car 50, without any robots. The normal operation control unit 121 performs group management control of the elevator cars 50.

[0055] Here, group control refers to a control system that assigns the elevator car 50 closest to the departure floor, such as the floor from which the elevator car 50 was called. In this embodiment, the normal operation control unit 121 performs group control by coordinating with the control panel 100 of another elevator 2, for example, by querying the control panel 100 of another elevator 2 for the departure floor, the current position and status of the elevator car 50, and receiving the response.

[0056] The robot-linked operation control unit 122 controls the robot-linked operation. Robot-linked operation refers to operation in which robot 500 rides in elevator car 50. Robot-linked operation can be divided into two types: robot-only operation, where no human passengers ride in elevator car 50, and non-robot-only operation, where humans can ride in elevator car 50. Robot-linked operation is sometimes simply referred to as robot operation.

[0057] In this embodiment, when the robot-linked operation control unit 122 receives a command from the robot control panel 170 via the communication unit 102 to move the elevator car 50 to a designated floor based on a cleaning command, it executes robot-only operation. The robot-linked operation control unit 122 then controls the lifting and lowering (i.e., movement) and standby of the elevator car 50 according to the movement and control commands for the elevator car 50 from the robot control panel 170. The robot-linked operation control unit 122 is an example of a first control unit.

[0058] For example, the robot-linked operation control unit 122 controls the movement of the elevator car 50 based on the cleaning completion time predicted by the robot control panel 170. The robot-linked operation control unit 122 has the elevator car 50 wait at the designated floor specified in the cleaning command after the robot 500 has disembarked from the elevator car 50 at that designated floor for the execution of the cleaning process, and after the cleaning completion time has elapsed.

[0059] Furthermore, if the robot 500 disembarks from the elevator car 50 at the designated floor to perform cleaning, but before the cleaning completion time has elapsed, the robot-linked operation control unit 122 will perform group control corresponding to the other call before the cleaning completion time has elapsed and before the cleaning completion time has elapsed.

[0060] Furthermore, the robot-linked operation control unit 122 instructs the robot 500 to wait on the floor where the garbage disposal area is located, after the robot 500 has disembarked from the elevator car 50 on the floor where the garbage disposal area is located to perform the garbage disposal process, and after the garbage disposal completion time predicted by the robot control panel 170 has elapsed.

[0061] Next, we will describe the details of server 210 within the elevator cloud 200. Figure 5 is a block diagram showing an example of the functional configuration of a server 210 in the elevator cloud 200 according to the embodiment. As shown in Figure 5, the server 210 mainly comprises a control unit 211, a communication unit 212, and a storage unit 220, as is typical for a computer.

[0062] The memory unit 220 is, for example, a storage medium (memory device) such as ROM or RAM. Various programs are stored in the memory unit 220.

[0063] The communication unit 212 consists of a communication device having a predetermined communication protocol and performs communication processing between the control panel 100 and the controller 150, communication processing between the robot control panel 170 and the controller 150, and communication processing between the robot cloud 300 and the server 310. The communication unit 212 is an example of the first communication unit.

[0064] In this embodiment, the communication unit 212 transmits a cleaning command, which includes the floor to be cleaned as the designated floor, to the robot control panel 170 and the server 310 in the robot cloud 300. The communication unit 212 also transmits a landing call, which includes the destination floor, generated by the control unit 211, to the control panel 100.

[0065] Next, we will describe the details of server 310 within robot cloud 300. Figure 6 is a block diagram showing an example of the functional configuration of a server 310 in a robot cloud 300 according to this embodiment. As shown in Figure 6, the server 310 mainly comprises a control unit 311, a communication unit 312, and a storage unit 320, as is typical for a computer.

[0066] The memory unit 320 is a storage medium (memory device) such as ROM or RAM. Various programs are stored in the memory unit 320.

[0067] The communication unit 312 consists of a communication device having a predetermined communication protocol and performs communication processing with the server 210 in the elevator cloud 200 and with the robot 500.

[0068] In this embodiment, the communication unit 312 receives a cleaning command, including a specified floor, from the server 210 in the elevator cloud 200, and transmits the received cleaning command to the robot 500.

[0069] The control unit 311 consists of a hardware processor (CPU). The control unit 311 controls various processes related to the robot 500.

[0070] Next, we will explain the details of Robot 500. Figure 7 is a block diagram showing an example of the functional configuration of the robot 500 according to this embodiment. As shown in Figure 7, the robot 500 mainly comprises a camera 506, various sensors 505, a control unit 501, a communication unit 502, a cleaning processing unit 504, a travel control unit 509, a drive unit 503, and a storage unit 510.

[0071] The camera 506 captures images of the area around the robot 500 and transmits the captured images to the server 310 of the robot cloud 300. The robot 500 may also be configured to transmit the captured images to the control panel 100.

[0072] The various sensors 505 include, for example, motion sensors, acceleration sensors, and load sensors, but are not limited to these.

[0073] The memory unit 510 is, for example, a storage medium (memory device) such as ROM or RAM. Various programs are stored in the memory unit 510.

[0074] The communication unit 502 consists of a communication device having a predetermined communication protocol and performs communication processing between the robot 500 and the server 310 in the robot cloud 300. In this embodiment, the communication unit 502 receives cleaning commands, including a specified floor, from the server 310 in the robot cloud 300. The communication unit 502 receives various instructions from the robot control panel 170 via the server 210 in the elevator cloud 200 from the server 310 in the robot cloud 300. The communication unit 502 is an example of a third communication unit.

[0075] The control unit 501 consists of a hardware processor (CPU). When the elevator 2 is in operation, the control unit 501 reads and executes various programs from the memory unit 510, thereby performing various operations on the elevator 2.

[0076] The drive unit 503 is a motor or the like that drives the robot 500 to make it move. The travel control unit 509 controls the drive unit 503 to control the movement of the robot 500. In this embodiment, when the communication unit 502 receives a cleaning command from the server 210 in the elevator cloud 200, the travel control unit 509 boards the elevator car 50 and moves to the designated floor. Also, when the communication unit 502 receives a garbage disposal command from the server 310 in the robot cloud 300, the travel control unit 509 moves the elevator car 50 to the garbage disposal floor.

[0077] The cleaning unit 504 performs cleaning on the designated floor specified in the cleaning command. The cleaning unit 504 also performs garbage disposal on the garbage disposal floor.

[0078] The above configuration of the robot 500 is just one example, and it may also be further equipped with an audio output unit such as a speaker and an input unit such as a touch panel.

[0079] Next, the elevator control process performed by the elevator control system 1 of this embodiment, configured as described above, will be explained. Figure 8 is a sequence diagram showing an example of the overall flow of the elevator control process according to this embodiment. Figure 9 is a schematic diagram illustrating the overall flow of the elevator control process according to this embodiment.

[0080] First, in the elevator cloud 200, the communication unit 212 transmits a cleaning command, including the specified floor, to the server 310 in the robot cloud 300 (S101). In the robot cloud 300, when the communication unit 312 receives the cleaning command, it transmits the received cleaning command to the robot 500 (S102). In the robot 500, when the communication unit 502 receives the cleaning command, it executes the robot-side cleaning process (S103).

[0081] Meanwhile, in the elevator cloud 200, the server 210 transmits a cleaning command, including the specified floor, to the robot control panel 170 via the communication unit 212 (S104). When the robot control panel 170 receives the cleaning command via the controller 150 via the communication unit 171, the robot control panel 170, together with the control panel 100, executes the elevator-side cleaning process (S106).

[0082] Next, we will explain the robot-side cleaning process for S103. Figure 10 is a flowchart showing an example of the robot-side cleaning process procedure according to the embodiment. In robot 500, when the communication unit 502 receives a cleaning command from the server 310 in the robot cloud 300, the travel control unit 509 drives the drive unit 503 to move to the front of elevator 2 and wait (S201). Next, based on instructions from the control panel 100, that is, instructions from the control panel 100 via the elevator cloud server 210 and the robot cloud server 310, the travel control unit 509 places robot 500 into the elevator car 50 (S202). Then, the elevator car 50 moves to the designated floor specified in the cleaning command.

[0083] When elevator car 50 arrives at the designated floor, the communication unit 502 of robot 500 determines whether or not it has received a door open signal from the control panel 100 via the elevator cloud server 210 and the robot cloud server 310 (S203). Here, the door open signal is the signal emitted when the doors of elevator car 50 are opened.

[0084] If the communication unit 502 has not received a door open signal (S203: No), the robot 500 remains waiting inside the elevator car 50. On the other hand, if the communication unit 502 has received a door open signal (S203: Yes), the communication unit 502 determines whether or not it has received a garbage disposal command from the robot control panel 170 via the elevator cloud server 210 and the robot cloud 300 server 310 (S204). Here, the garbage disposal command is transmitted when the robot control panel 170 determines that the amount of garbage based on the weight of the elevator car 50 is greater than a threshold, as will be described later.

[0085] If the communication unit 502 receives a command to dispose of garbage from the robot control panel 170 (S204: Yes), the robot 500 does not disembark from the elevator car 50, but moves to the floor of the garbage disposal area in the elevator car 50 (S210). Then, when the doors of the elevator car 50 open, the robot 500 moves to the garbage disposal area by the travel control unit 509 (S211).

[0086] When the robot 500 arrives at the waste disposal area, the cleaning processing unit 504 starts the waste disposal process (S212). Once the cleaning processing unit 504 has completed the waste disposal process (S213), the process returns to S201 and repeats from S201.

[0087] In S204, if the communication unit 502 has not received a command for waste disposal from the robot control panel 170 (S204: No), the driving control unit 509 causes the robot 500 to disembark from the elevator car 50 (S205).

[0088] Next, the cleaning processing unit 504 starts cleaning on the floor in question (S206). Once the cleaning processing by the cleaning processing unit 504 is completed (S207), the robot 500 is moved in front of elevator 2 by the travel control unit 509 (S208). Then, when elevator car 50 arrives and the doors open, the robot 500 boards the elevator car (S209). As a result, the robot 500 returns to its original waiting location, and the process returns to the caller.

[0089] Next, we will explain the elevator-side cleaning process for S106. Figures 11 and 12 are flowcharts showing an example of the procedure for cleaning the elevator side according to the embodiment.

[0090] When the robot control panel 170 receives a cleaning command from the server 210 in the elevator cloud 200, the control unit 172 sends an instruction to the control panel 100 to move the elevator car 50 to the designated floor specified in the cleaning command (S301).

[0091] In the control panel 100, when the communication unit 102 receives the instruction to move, it moves the elevator car 50, and when it arrives at the designated floor, it opens the doors of the elevator car 50 and instructs the elevator car 50 to wait (S302). Then, in the robot control panel 170, it determines whether or not the robot 500 has boarded the elevator car 50 based on whether or not the load detected by the load sensor 8 of the elevator car 50 has increased (S303).

[0092] If the robot 500 is not in the elevator car 50 (S303: No), the system remains in standby mode. If the robot 500 is in the elevator car 50 (S303: Yes), the recording unit 174 in the robot control panel 170 records the weight of the elevator car 50 at the time of boarding, the boarding time, and the date as history data 1751 (S304).

[0093] Next, in the robot control panel 170, the determination unit 176 determines whether the amount of garbage held by the robot 500 is below a threshold (S305). If the amount of garbage held by the robot 500 is greater than the threshold, the control unit 172 of the robot control panel 170 sends an instruction to the control panel 100 via the communication unit 171 to direct the elevator car 50 to the floor where the garbage disposal area is located (S306).

[0094] Next, when the elevator car 50 arrives at the floor where the garbage disposal area is located and the robot 500 disembarks from the elevator car 50, the control unit 172 of the robot control panel 170 sends an instruction to the control panel 100 to wait for the amount of time stored in the storage unit 175 that is the garbage disposal completion time (S307). Then, the control unit 172 of the robot control panel 170 confirms that the weight of the robot 500 has decreased based on the weight of the elevator car 50, based on the detection signal from the load sensor 8, and confirms that the garbage disposal process by the robot 500 has been completed (S308). At this time, the prediction unit 173 stores the time from the start to the completion of the garbage disposal process as the garbage disposal completion time in the storage unit 175. Then, the process proceeds to S309.

[0095] In S305, if the amount of garbage held by the robot 500 is below a threshold (S305: Yes), in S309, the control unit 172 of the robot control panel 170 sends an instruction to the control panel 100 to move the elevator car 50 to the designated floor specified in the cleaning command (S309). Next, the robot interlocking operation control unit 122 instructs the control panel 100 to wait for the doors to open until the elevator car 50 arrives at the designated floor (S310).

[0096] Next, when the elevator car 50 arrives at the designated floor, opens its doors, and the robot 500 disembarks, the recording unit 174 in the elevator car 50 robot control panel 170 records the disembarkation time, the weight of the elevator car 50, and the date in the history data 1751 (S312). After disembarking, the robot 500 performs cleaning.

[0097] Then, in the control panel 100, the robot interlocking operation control unit 122 determines whether or not all commands from the robot control panel 170 have been completed (S313). If all commands from the robot control panel 170 have not yet been completed (S313: No), the process returns to S301, and the process from S301 is repeatedly executed.

[0098] On the other hand, if all commands from the robot control panel 170 have been completed (S313: Yes), the robot interlocking operation control unit 122 responds to a normal call (destination floor call or landing call) through group control (S314). Next, the control unit 172 of the robot control panel 170 determines whether the cleaning completion time stored in the memory unit 175 has elapsed (S315). If the cleaning completion time has not yet elapsed (S315: No), the process returns to S314.

[0099] Once the cleaning completion time has elapsed (S315: Yes), the control unit 172 of the robot control panel 170 sends an instruction to the control panel 100 to have the elevator car 50 wait at the designated floor (S316). Upon receiving this instruction, the robot interlocking operation control unit 122 in the control panel 100 determines whether the communication unit 102 has received a call to another floor (S317). If the communication unit 102 has not received a call to another floor (S317: No), the process returns to S316, and the elevator car 50 waits at the designated floor.

[0100] On the other hand, if the communication unit 102 receives a call to another floor in S317 (S317: Yes), the robot interlocking operation control unit 122 of the control panel 100 responds to the received call (S318). Next, the control unit 172 of the robot control panel 170 sends instructions to the robot 500 to complete cleaning and wait in the elevator via the server 210 in the elevator cloud 200 and the server 301 in the robot cloud 300 (S319). Then, the control unit 172 of the robot control panel 170 sends an instruction to the control panel 100 to wait at the specified floor (S320). Then, the process returns to the caller.

[0101] In the elevator control system 1 according to this embodiment, the server 210 in the elevator cloud 200 transmits a cleaning command specifying a designated floor to the robot control panel 170 and the robot 500. The robot control panel 170 includes a storage unit 175 that stores history data 1751 in which the time the robot 500 boards the elevator car 50, the time the robot disembarks from the elevator car 50, the weight of the elevator car 50 when the robot 500 boards the elevator car 50, and the weight of the elevator car 50 when the robot 500 disembarks from the elevator car 50. When the robot control panel 170 receives a cleaning command from the server 210 of the elevator cloud 200, it sends a movement command for the elevator car 50 to the control panel 100, and further issues control commands to the elevator car. Based on the first time between boarding and alighting, the weight of the elevator car 50 when boarding, and the weight of the elevator car 50 when alighting, all stored in the memory unit, the control panel 170 predicts the time until the robot 50 completes the cleaning process, and based on the predicted cleaning completion time, issues a control command to the control panel 100 to move the elevator car 50. The control panel 100 controls the movement of the elevator car 50 based on the movement command and control commands for the elevator car 50 from the robot control panel 170. The robot 500 receives a cleaning command from the server 210 of the elevator cloud 200 via the server 310 of the robot cloud 300. When it receives a cleaning command, it boards the elevator car 50 and moves to the designated floor, where it performs the cleaning process.

[0102] Therefore, in this embodiment, the elevator is controlled in accordance with the completion time of the cleaning process by the cleaning robot 500, thereby achieving further efficiency in cleaning work using the elevator by the robot 500.

[0103] Furthermore, in the elevator control system 1 according to this embodiment, the robot control panel 170 records the time the robot 500 boards the elevator car 50 and the weight of the elevator car 50 at the time the robot 500 boards the elevator car 50 as history data 1751 in the storage unit 175 each time the robot 500 boards the elevator car 50, and records the time the robot 500 disembarks from the elevator car 50 and the weight of the elevator car 50 at the time the robot 500 disembarks from the elevator car 50 as history data 1751 in the storage unit 175 each time the robot 500 disembarks from the elevator car 50.

[0104] Therefore, in this embodiment, various information is recorded each time the robot 500 boards and alights from the elevator car 50, making it possible to predict the completion time of the cleaning process more accurately and to further improve the efficiency of cleaning work using the elevator by the robot 500.

[0105] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100, upon receiving instructions from the robot control panel 170, has the robot 500 disembark from the elevator car 50 at a designated floor to perform cleaning, and then, once the cleaning completion time has elapsed, has the elevator car 50 wait at the designated floor.

[0106] Therefore, in this embodiment, the cleaning robot 500 is made to wait in front of the elevator car 50 in accordance with the completion time of the cleaning process, thereby further improving the efficiency of cleaning work using the elevator by the robot 500.

[0107] Furthermore, in the elevator control system 1 according to this embodiment, if the control panel 100 receives another call after the robot 500 has disembarked from the elevator car 50 at a designated floor to perform cleaning, but before the cleaning completion time has elapsed, the control panel 100 performs group management control corresponding to the call before the cleaning completion time has elapsed and before the cleaning completion time has elapsed, based on instructions from the robot control panel 170.

[0108] Therefore, in this embodiment, by coordinating the completion time of the cleaning process of the cleaning robot 500 with other calls, time can be used effectively, thereby achieving further efficiency in cleaning work using the elevator by the robot 500.

[0109] Furthermore, in the elevator control system 1 according to this embodiment, the robot control panel 170 determines whether the amount of waste carried by the robot 500 is below a threshold based on the weight of the elevator car 50 when it is occupied. If the amount of waste is below the threshold, it instructs the control panel 100 to move the elevator car to the designated floor.

[0110] Therefore, in this embodiment, if the amount of waste generated by the cleaning process of the cleaning robot 500 is small, the cleaning process can be continued, thereby further improving the efficiency of the cleaning work using the elevator by the robot 500.

[0111] Furthermore, in the elevator control system 1 according to this embodiment, if the amount of waste is greater than a threshold, the robot control panel 170 instructs the control panel 100 to move the elevator car 50 to the floor where the waste is to be disposed of, and commands the robot 500 to perform waste disposal. When the robot 500 receives the command to perform waste disposal, it moves the elevator car 50 to the floor where the waste is to be disposed of and performs waste disposal on that floor.

[0112] Therefore, in this embodiment, if the amount of waste generated by the cleaning robot 500 is large, the cleaning process is temporarily interrupted to allow waste disposal to take place, and the cleaning process is resumed after the waste disposal is completed. This allows the robot 500 to smoothly perform cleaning work using the elevator.

[0113] Furthermore, in the elevator control system 1 according to this embodiment, when the robot 500 is instructed to perform the garbage disposal process, the robot control panel 170 predicts the time until the garbage disposal process is completed by the robot 500, based on a first time between the boarding time and the alighting time, the weight of the elevator car when boarding, and the weight of the elevator car when alighting, all of which are stored in the memory unit 175, and instructs the control panel 100 accordingly. As a result, the robot 500 disembarks the elevator car 50 at the floor where the garbage disposal is located, and once the garbage disposal completion time has elapsed, the elevator car 50 is made to wait at the floor where the garbage disposal is located.

[0114] Therefore, in this embodiment, the completion time of the waste disposal process is predicted, and the elevator car 50 is positioned to wait in front of the elevator 2 in accordance with the completion time of the waste disposal process, thereby enabling smoother cleaning after the waste disposal process is completed.

[0115] (modified version) In the above embodiment, the control panel 100 and the robot control panel 170 were provided as separate units, but the invention is not limited to this. For example, the control panel 100 and the robot control panel 170 can be configured as a single control device.

[0116] Furthermore, in the above embodiment, data and instructions were exchanged with the robot 500 via the server 310 of the robot cloud 300, but this is not the only way to do so. For example, in a configuration without the server 310 of the robot cloud 300, the server 210, control panel 100, and robot control panel 170 in the elevator cloud 200 may be configured to directly exchange data and instructions with the robot 500.

[0117] Furthermore, in the above embodiment, the amount of waste held by the robot 500 was determined based on the weight of the elevator car 50, but this is not limited to this. For example, the robot 500 could be configured to determine the amount of waste by measuring its own weight.

[0118] The control programs executed in the control panel 100, robot control panel 170, elevator cloud 200 server 310, and robot 500 according to the above embodiment and modified examples are provided pre-loaded into ROM or the like.

[0119] Each control program executed in the control panel 100, robot control panel 170, elevator cloud 200 server 210, and robot 500 according to the above embodiment and modified examples may be configured to be provided as a file in an installable or executable format, recorded on a computer-readable recording medium such as a CD-ROM, flexible disk (FD), CD-R, or DVD (Digital Versatile Disk).

[0120] Furthermore, the control programs executed in the control panel 100, robot control panel 170, elevator cloud 200 server 210, and robot 500 according to the above embodiments and modified examples may be configured to be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network.

[0121] Furthermore, the control programs executed in the control panel 100, robot control panel 170, elevator cloud 200 server 210, and robot 500 according to the above embodiment and modified examples may be provided or distributed via a network such as the Internet.

[0122] Each control program executed in the control panel 100, robot control panel 170, elevator cloud 200 server 210, and robot 500 according to the above embodiment and modified examples has a modular configuration that includes each of the functional units described above. In actual hardware, the CPU reads each control program from the ROM and executes it, thereby loading each of the functional units into the main memory, and generating each of the functional units in the main memory.

[0123] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of symbols]

[0124] 1…Elevator control system, 2,2A,2B…Elevator, 3…Building, 4,4A,4B…Control panel, 5A…User, 7,7A,7B…Camera, 8,8A,8B…Load sensor, 20,20A,20B…Housing shaft, 50,50A,50B…Elevator car, 100,100A,100B…Control panel (control device), 120,172,211,311,501…Control unit, 102,171,212,312,502…Communication unit, 110,175,220,320,510…Storage unit, 111…Management DB, 121…Normal operation Control unit, 122...Robot-linked operation control unit, 150, 150A, 150B...Controller, 160...Control room, 170, 170A, 170B...Robot control panel (control device, control panel for autonomous mobile unit), 173...Prediction unit, 174...Recording unit, 176...Decision unit, 200...Elevator cloud, 210...Server, 300...Robot cloud, 310...Server, 500, 500A, 500B, 500C...Robot (autonomous mobile unit), 503...Drive unit, 504...Cleaning processing unit, 509...Travel control unit, 1751...History data.

Claims

1. An elevator control system comprising: an autonomous mobile body capable of autonomously moving into an elevator car installed within a building; a control device that manages the movement of the autonomous mobile body using the elevator car and elevator, which can carry the autonomous mobile body and a person; and an elevator server connected to the control device via a network and controlling the raising and lowering of the elevator cars of all elevators in the building, The elevator server is The control device and the autonomous mobile body are equipped with a first communication unit that transmits cleaning commands for a designated floor. The control device is A storage unit that stores the time the autonomous mobile body boards the elevator car, the time the autonomous mobile body disembarks from the elevator car, the weight of the elevator car when the autonomous mobile body boards the elevator car, and the weight of the elevator car when the autonomous mobile body disembarks from the elevator car. A second communication unit that receives the cleaning command from the elevator server, A prediction unit predicts the time until the cleaning process by the autonomous mobile device is completed, based on a first time interval between the boarding time and the alighting time, the weight of the elevator car at the time of boarding, and the weight of the elevator car at the time of alighting, all of which are stored in the memory unit. The system includes a first control unit that controls the movement of the elevator car based on the predicted cleaning completion time, The autonomous mobile body, It includes a third communication unit that receives the cleaning command from the elevator server, When a cleaning command is received from the elevator server, the travel control unit boards the elevator car and moves to the designated floor, A cleaning processing unit that performs cleaning on the aforementioned designated floor, An elevator control system equipped with [this feature].

2. The control device is Each time the autonomous mobile vehicle boards the elevator car, the recording unit records the time the autonomous mobile vehicle boards the elevator car and the weight of the elevator car at the time the autonomous mobile vehicle boards the elevator car. Each time the autonomous mobile vehicle disembarks from the elevator car, the recording unit records the time the autonomous mobile vehicle disembarks from the elevator car and the weight of the elevator car at the time the autonomous mobile vehicle disembarks from the elevator car. The elevator control system according to claim 1, further comprising the following:

3. The first control unit, after the autonomous mobile unit disembarks from the elevator car at the designated floor to perform the cleaning process, and after the cleaning completion time has elapsed, has the elevator car wait at the designated floor. The elevator control system according to claim 2.

4. If the first control unit receives another call after the autonomous mobile unit has disembarked from the elevator car at the designated floor to perform the cleaning process, but before the cleaning completion time has elapsed, it will perform group control corresponding to the call before the cleaning completion time has elapsed and before the cleaning completion time has elapsed. The elevator control system according to claim 3.

5. The control device is A determination unit that determines whether the amount of waste carried by the autonomous mobile device is below a threshold based on the weight of the basket at the time of boarding, If the amount of waste is below a threshold, a second control unit moves the elevator car to the designated floor. The elevator control system according to claim 4, further comprising the above.

6. The second control unit further moves the elevator car to the floor of the garbage disposal area if the amount of garbage is greater than a threshold, and commands the autonomous mobile unit to perform garbage disposal. When the vehicle control unit receives the command for garbage disposal, it moves to the floor of the garbage disposal area in the vehicle. The cleaning processing unit further performs the waste disposal process on the floor of the waste disposal area. The elevator control system according to claim 5.

7. The prediction unit, when the autonomous mobile vehicle is instructed to perform the garbage disposal process, predicts the time until the autonomous mobile vehicle completes the garbage disposal process, based on a first time interval stored in the memory unit between the boarding time and the disembarking time, the weight of the elevator car at the time of boarding, and the weight of the elevator car at the time of disembarking. The first control unit, after the autonomous mobile vehicle disembarks from the elevator car at the floor of the garbage disposal area to perform the garbage disposal process, and after the garbage disposal completion time has elapsed, has the elevator car wait at the floor of the garbage disposal area. The elevator control system according to claim 6.

8. The control device includes a control panel that manages the movement of the elevator car, The system includes an autonomous mobile unit control panel for managing the movement of the autonomous mobile unit using the elevator, The aforementioned control panel for the autonomous mobile unit is The aforementioned storage unit, The second communication unit and, The recording unit, The prediction unit, The unit for making the determination, The system comprises the aforementioned second control unit, When the second control unit receives the cleaning command from the elevator server, it issues a movement instruction for the elevator car to the control panel, and further issues a control instruction for the elevator car. The aforementioned control panel is The first control unit and, The system includes a fourth communication unit that receives the movement instructions and control instructions from the control panel for the autonomous mobile unit, The first control unit controls the movement of the elevator car based on the movement instruction and the control instruction. The elevator control system according to claim 7.

9. The system further comprises an autonomous mobile unit server, which is connected via a network to the elevator server and the autonomous mobile unit, and controls the autonomous mobile unit, The elevator server and the control device transmit commands to the autonomous mobile unit via the autonomous mobile unit server. An elevator control system according to any one of claims 1 to 8.

10. A cleaning control method performed in an elevator control system comprising: an autonomous mobile body capable of autonomously moving into an elevator car installed within a building; a control device that manages the movement of the autonomous mobile body using the elevator car and elevator, which can carry the autonomous mobile body and a person; and an elevator server connected to the control device via a network and controlling the raising and lowering of the elevator cars of all elevators in the building, wherein The control device is The system includes a storage unit that stores the time the autonomous mobile body boards the elevator car, the time the autonomous mobile body disembarks from the elevator car, the weight of the elevator car when the autonomous mobile body boards the elevator car, and the weight of the elevator car when the autonomous mobile body disembarks from the elevator car. The elevator server transmits a cleaning command for a specified floor to the control device and the autonomous mobile unit. The control device receives the cleaning command from the elevator server, The control device predicts the time until the cleaning process by the autonomous mobile device is completed, based on a first time interval stored in the storage unit between the boarding time and the disembarking time, the weight of the elevator car at the time of boarding, and the weight of the elevator car at the time of disembarking. The control device controls the movement of the elevator car based on the predicted cleaning completion time, The autonomous mobile unit receives the cleaning command from the elevator server, When the autonomous mobile unit receives the cleaning command from the elevator server, it takes the following steps: board the elevator car and move to the designated floor; The autonomous mobile unit performs a cleaning process on the designated floor, A cleaning control method including the following.

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