Elevator control system and waste collection method

Abstract

To prevent a decrease in elevator operating efficiency caused by the movement of autonomous mobile vehicles. [Solution] In the elevator control system 1, when the elevator server 210 receives a collection request from the waste box 51, which is a request for the collection of waste, it sends a movement instruction to the autonomous mobile unit server 310 to move the autonomous mobile unit to the installation floor included in the collection request, and sends a destination floor call for the autonomous mobile unit to the control panels 100A and 100B, the control panels 100A and 100B switch to autonomous mobile unit-only operation, which operates the elevator cars 50A and 50B with only the autonomous mobile unit on board, and move to the floor where the autonomous mobile unit for waste collection will be boarded, the autonomous mobile unit server 310 drives the autonomous mobile unit to the elevator car landing, the autonomous mobile unit boards the elevator cars 50A and 50B and moves to the installation floor of the waste box 51 to collect the waste, and the system includes a driving control unit that transports the collected waste to the collection area.

Description

Technical Field

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[0005]

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

Background Art

[0002] Conventionally, when residents of a building such as an apartment discard waste such as garbage, it is necessary to transport it to a designated garbage collection site. However, transporting it to the designated location is time-consuming, and when using the elevator for transportation, if other residents are also using it, it may have an impact of giving discomfort. For this reason, conventionally, technologies for collecting garbage using an elevator and technologies for collecting waste using an autonomous mobile body such as a robot have been known (see, for example, Patent Document 1 and Patent Document 2).

Prior Art Documents

Patent Documents

[0006] [Figure 1] Figure 1 shows an example of the overall configuration of an elevator control system according to the first embodiment. [Figure 2] Figure 2 is a block diagram showing an example of the functional configuration of a control panel according to the first embodiment. [Figure 3] Figure 3 is a block diagram showing an example of the functional configuration of a server in the elevator cloud according to the first embodiment. [Figure 4] Figure 4 is a block diagram showing an example of the functional configuration of a server in the robot cloud according to the first embodiment. [Figure 5] Figure 5 is a block diagram showing an example of the functional configuration of a robot according to the first embodiment. [Figure 6] Figure 6 is a sequence diagram showing an example of the overall flow of the elevator control process according to the first embodiment. [Figure 7] Figure 7 is a schematic diagram illustrating the overall flow of the elevator control process in waste collection according to the first embodiment. [Figure 8] Figure 8 is a schematic diagram illustrating the overall flow of the elevator control process in waste collection according to the first embodiment (continued). [Figure 9] Figure 9 is a schematic diagram illustrating the overall flow of the elevator control process in waste collection according to the first embodiment (continued). [Figure 10] Figure 10 is a schematic diagram illustrating the overall flow of the elevator control process in waste collection according to the first embodiment (continued). [Figure 11]Figure 11 is a flowchart showing an example of the waste collection procedure according to the first embodiment. [Figure 12] Figure 12 is a flowchart showing an example of the waste collection procedure according to the first embodiment. [Figure 13] Figure 13 is a block diagram showing an example of the functional configuration of a server in the elevator cloud according to the second embodiment. [Figure 14] Figure 14 is a sequence diagram showing an example of the overall flow of the elevator control process in waste recovery according to the second embodiment. [Figure 15] Figure 15 is a flowchart showing an example of the waste collection and processing procedure according to the second embodiment. [Modes for carrying out the invention]

[0007] The embodiments will be described below with reference to the drawings.

[0008] (First embodiment) Figure 1 is a diagram showing an example of the overall configuration of the elevator control system 1 according to the first 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 in the building 3, controllers 150A and 150B provided for each of the multiple elevators 2A and 2B, a control room 160, waste boxes 51 provided on each floor of the building 3, a collection area 180 provided in the building 3, 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.

[0009] 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.

[0010] Each of the elevators 2A and 2B includes carriages 50A and 50B in the hoistways 20A and 20B respectively. In addition, each of the hoistways 20A and 20B includes a hoisting machine and a counterweight (not shown). The carriages 50A and 50B and the counterweight are each supported so as to be movable up and down along a pair of guide rails (not shown) erected in the hoistways 20A and 20B, and move up and down via ropes.

[0011] In addition to the user 5A, robots 500A and 500B as autonomous mobile bodies can also board the carriages 50A and 50B.

[0012] The carriages 50A and 50B are provided with operation panels 4A and 4B, cameras 7A and 7B, load sensors 8A and 8B, and injection devices 55A and 55B. The operation panels 4A and 4B receive various operations from the user and also provide various notifications to the carriage 50. The operation panels 4A and 4B are provided with push buttons, non-contact sensors, speakers, liquid crystal display units, etc. (all not shown) for designating the destination floor and opening and closing the doors of the carriages 50A and 50B. In addition, the operation panels 4A and 4B are connected to the control panels 100A and 100B by wire or wirelessly. When the user ⑤A and ⑤B presses the push button for the destination floor or is detected by the non-contact sensor, the destination floor call is sent to the control panels 100A and 100B.

[0013] Here, the destination floor call is operation data performed by the user in the carriage 50 to make the carriage 50 go to the desired destination floor. The destination floor is specified in the destination floor call.

[0014] Also, in this embodiment, the destination floor call for the robot is transmitted from the server 210 of the elevator penthouse 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 target floor), and is operation data for moving the carriage 50 to the specified departure floor and making it go from the departure floor to the specified destination floor.

[0015] A landing call is operation data performed by a user at a landing to cause a car 50 heading in either the up or down destination direction to arrive at that landing. The landing call specifies the destination direction and the floor (i.e., the departure floor) from which the landing call is made.

[0016] The cameras 7A and 7B photograph the interior 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.

[0017] The load sensors 8A and 8B are provided on the bottom surfaces of the cars 50A and 50B and detect the weight of the cars 50. When users 5A or robots 500A and 500B are riding in the cars 50A and 50B, the load sensors 8A and 8B detect the weight of the cars 50 themselves, plus the weights of the users 5A and the robots 500A and 500B riding in them. The load sensors 8A and 8B send the detected weight as a detection signal to the control panels 100A and 100B.

[0018] Each of the spraying devices 55A and 55B is provided on the ceiling inside the cars 50A and 50B. Each of the spraying devices 55A and 55B is connected to the control panels 100A and 100B either by wire or wirelessly. Each of the spraying devices 55A and 55B sprays a deodorant into the cars 50A and 50B according to an instruction from the control panels 100A and 100B.

[0019] Landings are provided on each floor. A landing is a place where users or robots 500 wait for the arrival of the cars 50A and 50B of the elevators 2A and 2B. A camera 9 is provided on the wall surface of the landing on each floor. The camera 9 photographs the landing and sends the captured image to the control panels 100A and 100B.

[0020] On each floor, a waste bin 51 is provided in a designated location away from the landing. The waste bin 51 is for storing garbage and other waste. As shown in Figure 1, the waste container 51 is equipped with a load sensor 53 and a communication unit 52.

[0021] The load sensor 53 is a sensor that detects the amount of waste contained in the waste box 51, and examples include a load sensor that detects the weight of the waste. The load sensor 53 is an example of a detection unit.

[0022] The communication unit 52 is a communication device having a predetermined communication protocol. In this embodiment, the communication unit 52 includes the amount of waste detected by the loading sensor 53 and the floor on which its own waste box 51 is installed, and sends a collection request to the server 210 in the elevator cloud 200 requesting the collection of the waste. The communication unit 52 is an example of a fifth communication unit.

[0023] Inside each of the elevator shafts 20A and 20B, control panels 100A and 100B and controllers 150A and 150B are installed. Control panels 100A and 100B are connected wirelessly or via wire to the operation panels 4A and 4B installed in the elevator cars 50A and 50B.

[0024] 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.

[0025] 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 server 210, and to mediate various signals exchanged between control panels 100A and 100B 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.

[0026] 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.

[0027] Furthermore, Building 3 is equipped with a collection area 180, located in an inconspicuous place, such as on the lobby floor. The collection area 180 is a place where waste such as garbage collected from the waste bins 51 on each floor of Building 3 is collected in one place.

[0028] Furthermore, Building 3 has a designated waiting area (not shown) in a corner, for example, on the lobby floor, where robots 500A, 500B, and 500C that are not currently performing any tasks can wait.

[0029] 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. Server 210 in the elevator cloud 200 is connected via the network to the monitoring center 400 (internal server) and server 310 in the robot cloud 300.

[0030] 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.

[0031] 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.

[0032] Elevator Company 700 is a company that provides elevator 2, and within Elevator Company 700, there is a server 710.

[0033] 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, and controllers 150A, 150B will also vary according to 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, and multiple controllers 150A, 150B, we will refer to them as elevator 2, hoistway 20, elevator car 50, control panel 100, and controller 150. If we do not distinguish between control panels 4A, 4B, cameras 7A, 7B, load sensors 8A, 8B, and injection devices 55A, 55B, we will refer to them as control panel 4, camera 7, load sensor 8, and injection device 55.

[0034] Next, we will describe the details of the control panel 100. Figure 2 is a block diagram showing an example of the functional configuration of the control panel 100 according to the first embodiment. The control panel 100 has a typical computer configuration and mainly comprises a control unit 120, a communication unit 102, and a storage unit 110, as shown in Figure 2.

[0035] Furthermore, as shown in Figure 2, 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 camera 9 at the landing. 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.

[0036] 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").

[0037] 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.

[0038] The communication unit 102 consists of a communication device having a predetermined communication protocol and performs communication processing between the control panel 100 and 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.

[0039] In this embodiment, the communication unit 102 receives a destination floor request for the robot from the server 210 in the elevator cloud 200. Here, the destination floor request for the robot specifies the departure floor and the destination floor. The departure floor is the floor from which the robot 500 boards the elevator car 50 for waste collection. The destination floor is the floor where the waste box 51 specified in the collection request is located. The communication unit 102 is an example of a second communication unit.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] In this embodiment, the robot-linked operation control unit 122 switches to robot-only operation when the communication unit 102 receives a second movement instruction, that is, a destination floor call for the robot to board the elevator car 50 for waste collection. The robot-linked operation control unit 122 then moves the elevator car 50 to the departure floor specified in the robot destination floor call, that is, the floor where the robot 500 for waste collection will board. Once the robot 500 has boarded the elevator car 50, the robot-linked operation control unit 122 controls the elevator car 50 to the destination floor specified in the robot destination floor call, that is, the floor where the waste box 51 is installed.

[0045] Furthermore, the robot-linked operation control unit 122 moves the elevator car 50, on which the robot 500 has collected waste from the waste box 51, from the floor where the waste box 51 is located to the floor where the collection area is located. Then, on the floor where the collection area is located, after the robot 500 disembarks from the elevator car 50, the robot-linked operation control unit 122 controls the spraying device 55 to spray deodorant into the elevator car 50.

[0046] The robot-linked operation control unit 122 is an example of a second control unit.

[0047] Next, we will describe the details of server 210 within the elevator cloud 200. Figure 3 is a block diagram showing an example of the functional configuration of a server 210 in the elevator cloud 200 according to the first embodiment. As shown in Figure 3, the server 210 mainly comprises a control unit 211, a communication unit 212, and a storage unit 220, as is typical for a computer. Server 210 is an example of a server for elevators.

[0048] 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.

[0049] The communication unit 212 consists of a communication device having a predetermined communication protocol and performs communication processing between the server 210 and the controller 150 of the control panel 100, and communication processing between the server 210 and the server 310 in the robot cloud 300.

[0050] In this embodiment, the communication unit 212 can receive collection requests from one or more waste boxes 51, including the floor on which the waste box is located and that the amount of waste has exceeded a predetermined amount. When the communication unit 212 receives a collection request from a waste box 51, it sends a move instruction to the server 310 in the robot cloud 300, which is an instruction to move the robot 500 to the floor on which it is located as specified in the collection request in order to collect the waste. Furthermore, when the communication unit 212 receives a collection request from the waste box 51, it transmits a destination floor call for the robot, generated by the control unit 211 (described later), to the control panel 100. Communications Unit 212 is an example of the first communications unit.

[0051] The control unit 211 consists of a hardware processor (CPU). When the communication unit 212 receives a collection request from the waste box 51, the control unit 211 generates a destination floor call for the robot, specifying the installation floor included in the collection request as the destination floor and the floor from which the robot 500 that collects the waste can board the elevator car 50 as the departure floor.

[0052] Next, we will describe the details of server 310 within robot cloud 300. Figure 4 is a block diagram showing an example of the functional configuration of a server 310 in a robot cloud 300 according to the first embodiment. As shown in Figure 4, the server 310 mainly comprises a control unit 311, a communication unit 312, a decision unit 313, and a storage unit 320, as is typical for a computer. Server 310 is an example of a server for autonomous mobile vehicles.

[0053] The memory unit 320 is a storage medium (memory device) such as ROM or RAM. Various programs are stored in the memory unit 320.

[0054] The communication unit 312 consists of a communication device having a predetermined communication protocol and performs communication processing between the server 310 and the server 210 in the elevator cloud 200, as well as communication processing between the server 310 and the robot 500.

[0055] In this embodiment, the communication unit 312 receives a movement instruction from the server 210 of the elevator cloud 200 for the robot 500 that collects waste, and transmits the received movement instruction to the robot 500. More specifically, the communication unit 312 transmits the received movement instruction to the robot 500 that has been determined and selected by the determination unit 313 (described later) to be in a position to move to the elevator car 50. Communications Unit 312 is an example of a third communications unit.

[0056] When the communication unit 312 receives a movement instruction, the determination unit 313 determines whether the robot 500 is in a position to move to the elevator car 50, and selects the robot 500 that is able to move as the robot 500 to collect the waste.

[0057] The control unit 311 consists of a hardware processor (CPU). The control unit 311 controls various processes related to the robot 500.

[0058] Next, we will explain the details of Robot 500. Figure 5 is a block diagram showing an example of the functional configuration of a robot 500 according to the first embodiment. As shown in Figure 5, the robot 500 mainly comprises a camera 506, various sensors 505, a control unit 501, a communication unit 502, a driving control unit 509, a drive unit 503, and a storage unit 510.

[0059] 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. Camera 506 is an example of an imaging unit.

[0060] The various sensors 505 include, for example, motion sensors, acceleration sensors, and load sensors, but are not limited to these.

[0061] 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.

[0062] 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 movement instructions from the server 310 in the robot cloud 300.

[0063] 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.

[0064] 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 movement instruction, the robot 500 travels to the platform of the elevator car 50, boards the elevator car 50, moves to the floor where the waste bin 51 is installed, collects waste from the waste bin 51, and transports the collected waste to the collection area.

[0065] Furthermore, if there is only one elevator 2 and the elevator car 50 is occupied, the travel control unit 509 will stop collecting waste if it detects, based on the image captured by the camera 506, that the elevator car 50 is wheelchair accessible and that the handicap button has been pressed.

[0066] After collecting waste from the waste box 51, the vehicle control unit 509 boards the elevator car 50, moves to the collection area, and disposes of the collected waste at the collection area.

[0067] After collecting waste from the waste box 51, the travel control unit 509 determines whether it is possible to transport waste from waste boxes 51 on other floors by comparing the amount of waste the robot 500 is carrying with the robot 500's maximum load capacity. If the travel control unit 509 determines that it is possible to transport the waste, it has the robot 500 board the elevator car 50 and move to the waste box 51 on the other floor to collect the waste.

[0068] 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.

[0069] Next, the elevator control process performed by the elevator control system 1 of this embodiment, configured as described above, will be explained. Figure 6 is a sequence diagram showing an example of the overall flow of the elevator control process in waste recovery according to the first embodiment. Figures 7-10 are schematic diagrams illustrating the overall flow of the elevator control process in waste collection according to the first embodiment.

[0070] In this embodiment, as shown in Figure 7, waste boxes 51 are provided on each floor, and a collection area 180 is provided on the first floor. When a load sensor 53 detects that the amount of waste in a waste box 51 exceeds a predetermined amount, for example, when the box is full, the communication unit 52 sends a collection request, including the floor where the waste box 51 is located, to the server 210 of the elevator cloud 200 (S102).

[0071] In the elevator cloud 200 server 210, when the communication unit 212 receives a collection request from the waste box 51, the control unit 211 generates a destination floor call for the robot (S103). The communication unit 212 then transmits the destination floor call for the robot to the control panel 100 (S104). The communication unit 212 also transmits a movement instruction for the robot 500 to the robot cloud 300 server 310 (S105). This movement instruction includes the floor where the waste box 51 is located, which was included in the collection request.

[0072] In the robot cloud 300 server 310, when the communication unit 312 receives a movement instruction from the elevator cloud 200 server 210, the decision unit 313 checks the status of the robot 400 (S106). For example, the decision unit 313 determines whether there is a robot 500 capable of collecting waste based on the time of day, etc. Then, the decision unit 313 selects a robot 500 capable of collecting waste (S107). Next, the communication unit 312 sends a movement instruction to the selected robot 500 (S108).

[0073] In the selected robot 500, when the communication unit 502 receives a movement instruction, the travel control unit 509 controls the drive unit 503 to move to the front of the elevator 2, as shown in Figure 8 (S109). Next, the robot 500 performs waste collection processing (S110). Details of the waste collection processing will be described later.

[0074] During the waste collection process, when an operation instruction is sent from the robot 500 to the server 310 of the robot cloud 300 (S112), the instruction is then sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S113), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 (S114).

[0075] In the control panel 100, when the communication unit 102 receives an operation instruction via the controller 150, the robot-linked operation control unit 122 switches the operation of elevator 2 to robot-only operation (S115). Next, the robot-linked operation control unit 122 assigns an elevator car 50 (S116) and moves the assigned elevator car 50 (S117). During this process, the robot 500 performs waste collection processing as shown in Figure 9.

[0076] When the robot 500 disembarks from the elevator car 50 to collect the waste and dispose of it in the collection area, the robot-linked operation control unit 122 of the control panel 100, as shown in Figure 10, issues instructions for ventilation and deodorization inside the elevator car 50 and causes the deodorizer to be sprayed onto the spraying device 55 (S118).

[0077] During the waste collection process, when a dedicated operation cancellation instruction is sent from the robot 500 to the server 310 of the robot cloud 300 (S119), the dedicated operation cancellation instruction is sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S120), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 (S121).

[0078] In the control panel 100, when the communication unit 102 receives a command to cancel dedicated operation via the controller 150, the robot-linked operation control unit 122 cancels the robot-dedicated operation and switches to normal operation (S122). Then the process ends.

[0079] Next, we will explain the waste collection and processing of S110. Figures 11 and 12 are flowcharts showing an example of the waste collection and processing procedure according to the first embodiment.

[0080] When robot 500 arrives in front of elevator 2, the control unit 501 determines whether or not there are multiple elevators 2 based on the image captured by camera 506 (S201). If there is only one elevator 2 (S201: No), the communication unit 502 sends an instruction to the robot cloud 300 server 310 to operate that single elevator exclusively for the robot (S207, S112). As described above, this operation instruction is sent from the robot cloud 300 server 310 to the elevator cloud 200 server 210, and from the elevator cloud 200 server 210 to the control panel 100 (S113, S114), and the control panel 100 switches to robot-only operation (S115).

[0081] Next, the robot 500 boards the elevator car 50, and the control unit 501 determines whether the elevator car 50 is wheelchair accessible based on the image captured by the camera 506, specifically by checking for the presence or absence of handrails for wheelchairs (S208). If it is not wheelchair accessible (S208: No), the process proceeds to S203.

[0082] On the other hand, if the elevator car 50 is wheelchair accessible (S208: Yes), the control unit 501 determines whether or not the elevator stopped due to the pressing of the handicap button based on the image captured by the camera 506 (S209). If there is no elevator stop due to the pressing of the handicap button (S209: No), the process proceeds to S203.

[0083] On the other hand, if the robot stops due to the pressing of the handicap button (S209: Yes), the robot 500's travel control unit 509 controls the drive unit 503 to stop operation (S210), and restarts after 5 minutes (S211). Then, the process returns to S209.

[0084] If multiple elevators 2 are installed in S201 (S201: Yes), the communication unit 502 transmits instructions to the control panel 100 for robot-only operation of one elevator and instructions for normal operation of the other elevators (S202, S112). As described above, these operation instructions are transmitted from the robot cloud 300 server 310 to the elevator cloud 200 server 210, and from the elevator cloud 200 server 210 to the control panel 100 (S113, S114), and the control panel 100 switches the operation (S115).

[0085] Then, robot 500 boards elevator car 50, which is now operated exclusively for robots, and travels to its destination floor.

[0086] In S203, the robot 500 and its control unit 501 determine whether or not they have arrived at the destination floor, i.e., the floor where the waste bin 51 to be disposed of is located (S203). If they have not arrived at the destination floor (S203: No), the robot 500 waits inside the elevator car 50.

[0087] If the robot arrives at the destination floor (S203: Yes), the robot 500 will disembark from the elevator car 50 via the travel control unit 509, proceed to the waste bin 51, and collect the waste (S204).

[0088] Next, in the robot 500, the travel control unit 509 determines whether or not it is possible to collect waste from the waste bin 51 on another floor (S205). If it is possible to collect waste from another floor (S205: Yes), the travel control unit 509 moves to that other floor using the elevator 2 and collects the waste (S206). If it is not possible to collect waste from another floor (S205: No), the process in S206 is not performed.

[0089] Next, the robot 500's travel control unit 509 moves to the floor where the collection area 180 is located (the 1st floor in the example shown in Figures 7-10) using the elevator 2 (S212). Then, the travel control unit 509 places the collected waste in the collection area 180 (S213).

[0090] Next, the travel control unit 509 determines whether there is waste accumulated on other floors based on whether the communication unit 502 has received other movement instructions (S214). If there is waste accumulated on other floors (S214: Yes), the process moves to S204, and the process from S204 is repeatedly executed.

[0091] If there is no waste accumulated on other floors (S214: No), the travel control unit 509 controls the drive unit 503 to return the robot 500 to the standby location (S215). Next, the communication unit 502 sends a dedicated operation cancellation instruction to the robot cloud 300 server 310 (S216, S119). As described above, this dedicated operation cancellation instruction is sent from the robot cloud 300 server 310 to the elevator cloud 200 server 210, and from the elevator cloud 200 server 210 to the control panel 100 (S120, S121), and the robot's dedicated operation is canceled at the control panel 100 (S122). Then, the process returns to the caller.

[0092] In the elevator control system 1 according to this embodiment, when one or more waste boxes 51 detect that the amount of waste has exceeded a predetermined amount, each box sends a collection request to the elevator cloud 200 server 210, which includes the floor where the waste is located and the fact that the amount of waste has exceeded a predetermined amount, and is a request for the collection of the waste. When the elevator cloud 200 server 210 receives a collection request from one or more waste boxes 51, it generates a destination floor call for the robot indicating a request to move the elevator car 50 to the floor where the waste is located included in the collection request, sends a move instruction to the robot cloud 300 server 310, which is an instruction to move the robot to the floor where the waste is located included in the collection request in order to collect the waste, and sends a destination floor call for the robot to the control panel 100. Furthermore, when the control panel 100 receives a destination floor call for the robot from the server 210 of the elevator cloud 200, it switches to robot-only operation, allowing only the robot to ride in the elevator car 50. The control panel 100 moves the elevator car 50 to the floor where the robot for waste collection will board, and once the robot is on board, it controls the elevator car 50 to move to the floor where the waste bin 51 is installed. The server 310 of the robot cloud 300 also receives a movement instruction from the server 210 of the elevator cloud 200 and transmits the received movement instruction to the robot 500. When the robot 500 receives a movement instruction, it drives to the elevator car 50's landing, boards the elevator car 50, moves to the floor where the waste bin 51 is installed, collects the waste from the waste bin 51, and transports the collected waste to the collection area 180.

[0093] Therefore, in this embodiment, when a request is made to collect waste from the waste box 51, the elevator 2 is switched to robot-only operation using a cloud such as the server 210 of the elevator cloud 200 or the server 310 of the robot cloud 300, and the robot 500 is made to collect the waste. Accordingly, in this embodiment, the conditions for the robot 500 to move for waste collection are clearly defined, and it is possible to prevent a decrease in the operating efficiency of the elevator 2 due to the movement of the robot 500.

[0094] Furthermore, in the elevator control system 1 according to this embodiment, when the server 310 of the robot cloud 300 receives a movement instruction, it determines whether the robot 500 is in a position to move to the elevator car 50, and if it determines that the robot 500 is in a position to move to the elevator car 50, it transmits a movement instruction to the robot 500.

[0095] Therefore, in this embodiment, it is determined whether the robot 500 is in a position to move to the elevator car 50, and if it is in a position to move, the robot 500 is instructed to collect the waste. Thus, in this embodiment, the conditions for the robot 500 to move for waste collection are clearly defined, and it is possible to further prevent a decrease in the operating efficiency of the elevator 2 due to the movement of the robot 500.

[0096] Furthermore, in the elevator control system 1 according to this embodiment, when there is only one elevator 2, if the robot 500 boards the elevator car 50, and detects from the image captured by the camera 506 that the elevator car 50 is wheelchair accessible and that the handicap button has been pressed, the robot 500 will stop collecting the waste.

[0097] Therefore, in this embodiment, there is only one elevator 2, the elevator car 50 is wheelchair accessible, and waste collection is stopped when the handicap button is pressed. Thus, the conditions under which the robot 500 stops waste collection are clearly defined, and the operation of the robot 500 can be used to further prevent a decrease in the operating efficiency of the elevator 2.

[0098] Furthermore, in the elevator control system 1 according to this embodiment, the elevator car 50 is equipped with a spraying device 55 that sprays a deodorant, and the control panel 100 moves the elevator car 50, on which the robot 500 that has collected waste from the waste box 51 is riding, from the floor where the waste box 51 is located to the floor where the collection area 180 is located, and after the robot 500 disembarks from the elevator car 50 at the floor where the collection area 180 is located, the spraying device 55 sprays the deodorant. After the robot 500 collects waste from the waste box 51, it rides in the elevator car 50 and moves to the collection area 180, where it disposes of the collected waste.

[0099] Therefore, in this embodiment, the inside of the elevator car 50 can be kept clean by ventilation and spraying of a deodorizer after the waste has been collected and transported to the collection area 189.

[0100] Furthermore, in the elevator control system 1 according to this embodiment, after the robot 500 collects waste from the waste box 51, it determines whether it is possible to transport waste from waste boxes 51 on other floors. If it is possible, it boards the elevator car 50 and moves to the waste box 51 on the other floor to collect the waste.

[0101] Therefore, in this embodiment, the utilization efficiency of the robot 500 can be improved by collecting waste from waste boxes 51 on other floors as well.

[0102] (Second embodiment) In the first embodiment, no specific time slot was set for waste collection. However, in this second embodiment, the usage time of elevator 2 is recorded, and the waste collection process is performed after setting the time for waste collection as the activation time.

[0103] The configuration of the elevator control system 1, waste bin 51, control panel, robot cloud 300 server 310, and robot 500 is the same as in the first embodiment.

[0104] Figure 13 is a block diagram showing an example of the functional configuration of the server 1210 in the elevator cloud 200 according to the second embodiment. As shown in Figure 13, the server 1210 mainly comprises a control unit 211, a communication unit 212, a recording unit 1211, a determination unit 1212, and a storage unit 220. Here, the functions and configurations of the control unit 211, the communication unit 212, and the storage unit 220 are the same as in the first embodiment.

[0105] The recording unit 1211 records the usage time of elevator 2 in the storage unit 220. The decision unit 1212 determines the start time of the robot 500 based on the usage time recorded in the memory unit 220. For example, the decision unit 1212 can determine the start time of the robot 500 to be during nighttime hours when elevator 2 is not in use (for example, from 8 PM to 6 AM the next day).

[0106] Furthermore, the communication unit 212 of this embodiment transmits the startup time of the robot 500, determined by the determination unit 1212, to the server 310 in the robot cloud 300.

[0107] In the server 310 of the robot cloud 300 according to this embodiment, the communication unit 312 receives the startup time of the robot 500 from the server 210 in the elevator cloud 200. The determination unit 313 also determines, when the communication unit 312 receives a movement instruction, whether the current time corresponds to the startup time of the robot 500 and whether the robot 500 is in a state where it can move to the elevator car 50. Furthermore, if the determination unit 313 determines that the current time corresponds to the startup time of the robot 500 and that the robot 500 is in a state where it can move to the elevator car 500, the communication unit 312 selects the robot 500 to be used for waste collection and transmits a movement instruction to the selected robot 500.

[0108] In this embodiment, the running control unit 509 of the robot 500 sets the running speed to a lower speed than the speed used when running at times other than nighttime when the robot is running during the nighttime period.

[0109] Next, the elevator control process performed by the elevator control system 1 of this embodiment, configured as described above, will be explained. Figure 14 is a sequence diagram showing an example of the overall flow of the elevator control process in waste recovery according to the second embodiment.

[0110] First, in the elevator cloud 200 server 210, each time elevator 2 is used, the recording unit 1211 records the usage time of elevator 2 in the storage unit 220 (S301). Next, the decision unit 1212 refers to the usage time of elevator 2 recorded in the storage unit 220 and sets the startup time of robot 500 to a time when elevator 2 is not in use (S302). Then, the communication unit 212 transmits the startup time of robot 500 determined by the decision unit 1212 to the robot cloud 300 server 310 (S303). In the robot cloud 300 server 310, the communication unit 312 receives the startup time of robot 500 and stores it in the storage unit 320.

[0111] Subsequently, as in the first embodiment, the waste box 51's loading sensor 53 detects that it is full of waste (S101), and a collection request is sent from the waste box 51's communication unit 52 to the elevator cloud 200's server 210 (S102). The elevator cloud 200's server 210 generates a destination floor call for the robot (S103), sends the robot's destination floor call to the control panel 100 (S104), and sends a movement instruction to the robot 500 to the robot cloud 300's server 310 (S105).

[0112] In the robot cloud 300 server 310, when the communication unit 312 receives a movement instruction from the elevator cloud 200 server 210, the decision unit 313 checks the status of the robot 500 and whether the current time corresponds to the robot 500's startup time (S306). Then, if the decision unit 313 confirms that the current time corresponds to the robot 500's startup time, it selects a robot 500 capable of collecting waste (S107). The processing from S108 onwards is the same as in the first embodiment. However, the waste collection process (S316) differs from the first embodiment.

[0113] Figure 15 is a flowchart showing an example of the waste collection and processing procedure according to the second embodiment. When robot 500 moves in front of elevator 2, the travel control unit 509 determines whether the current time is during the nighttime period (e.g., 8pm to 6am) (S401). If the current time is not during the nighttime period (S401: No), the travel control unit 509 sets the travel speed of robot 500 to the normal speed, which is the speed during the daytime (S403).

[0114] On the other hand, in S401, if the current time is during the nighttime period (S401: Yes), the travel control unit 509 sets the travel speed of the robot 500 to a speed lower than the normal speed (S402). The subsequent processing from S201 onwards is carried out in the same manner as in the first embodiment.

[0115] In the elevator control system 1 according to this embodiment, the server 210 of the elevator cloud 200 records the usage time of the elevator 2, determines the startup time of the robot 500 based on the usage time, and transmits the determined startup time of the robot 500 to the server 310 of the robot cloud 300. The server 310 of the robot cloud 300 receives the startup time of the robot 500 from the server 210 of the elevator cloud 200, and when it receives a movement instruction, it determines whether the current time corresponds to the startup time of the robot 500 and whether the robot 500 is in a state where it can move to the elevator car 500. If it determines that the current time corresponds to the startup time of the robot 500 and that the robot 500 is in a state where it can move to the elevator car 500, it transmits a movement instruction to the robot 500.

[0116] Therefore, in this embodiment, the startup time of the robot 500 is determined based on the usage time of the elevator 2, and the robot 500 is made to collect waste at the determined time. This makes it possible to determine the startup time during a time when the elevator 2 is not being used. Accordingly, according to this embodiment, congestion of the elevator 2 can be avoided, and a decrease in the operating efficiency of the elevator 2 can be further prevented.

[0117] Furthermore, in the elevator control system 1 according to this embodiment, the startup time is during the nighttime hours, and when the robot 500 travels during the nighttime hours, its travel speed is reduced to a lower speed than when traveling at other times of the day. Therefore, according to this embodiment, by having the robot 500 travel at a lower speed during the nighttime hours than during the daytime hours, movement during the nighttime hours can be performed quietly.

[0118] In the above embodiment, there are multiple waste bins 51 because they are provided on each floor, but this is not the only configuration. They may be provided in one location on any floor, or multiple waste bins 51 may be provided on a single floor.

[0119] The control programs executed in the control panel 100, the server 210 of the elevator cloud 200, the server 310 of the robot cloud 300, and the robot 500 according to the above embodiment and modified examples are provided pre-loaded into ROM or the like.

[0120] Each control program executed in the control panel 100, the elevator cloud 200 server 210, the robot cloud 300 server 310, and the 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).

[0121] Furthermore, the control programs executed in the control panel 100, the elevator cloud 200 server 210, the robot cloud 300 server 310, and the robot 500 according to the above embodiment 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.

[0122] Furthermore, the control programs executed by the control panel 100, the elevator cloud 200 server 210, the robot cloud 300 server 310, and the robot 500 according to the above embodiment and modified examples may be provided or distributed via a network such as the Internet.

[0123] Each control program executed in the control panel 100, the elevator cloud 200 server 210, the robot cloud 300 server 310, and the robot 500 according to the above embodiment and modified examples is configured as a module including the parts of the functional unit described above. In actual hardware, the CPU reads each control program from the ROM and executes it, thereby loading the parts into the main memory and generating the parts of the functional unit in the main memory.

[0124] 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]

[0125] 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, 51…Waste box, 53…Load sensor, 55,55A,55B…Injection device, 100,100A,100B…Control panel, 120,211,311,501…Control unit, 52,102,212,312,502…Communication unit, 110,220,320,510… Memory unit, 111...Management DB, 121...Normal operation control unit, 122...Robot-linked operation control unit, 150, 150A, 150B...Controller, 160...Control room, 180...Storage area, 200...Elevator cloud, 1210, 210...Server (server for elevators), 300...Robot cloud, 310...Server (server for autonomous mobile units), 313...Decision unit, 500, 500A, 500B, 500C...Robot (autonomous mobile unit), 503...Drive unit, 509...Travel control unit, 1211...Recording unit, 1212...Decision unit.

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 panel for controlling the elevator car in which the autonomous mobile body and a person can ride; an elevator server connected to the control panel by a network for controlling the raising and lowering of the elevator cars of all elevators in the building; an autonomous mobile body server connected to the elevator server and the autonomous mobile body by a network for controlling the autonomous mobile body; and one or more waste boxes provided in a predetermined location within the building for containing waste, wherein The elevator server is A first communication unit capable of receiving a collection request from each of the one or more waste bins, which includes the floor on which the waste is placed and the fact that the amount of waste has exceeded a predetermined amount, and which is a request for the collection of the waste. The system includes a first control unit that, upon receiving the collection request from the waste bin, generates a destination floor call for an autonomous mobile unit indicating a request to move the elevator car with the installation floor included in the collection request as the destination floor, When the first communication unit receives the collection request from the waste box, it transmits a movement instruction to the autonomous mobile unit server, which is an instruction to move the autonomous mobile unit to the installation floor included in the collection request in order to collect the waste, and transmits a destination floor call for the autonomous mobile unit to the control panel. The aforementioned control panel is A second communication unit receives a destination floor call for the autonomous mobile unit from the elevator server, The system includes a second control unit that, upon receiving a destination floor call for the autonomous mobile unit, switches to autonomous mobile unit-only operation in the elevator car, moves the elevator car to the floor where the autonomous mobile unit for waste collection will be boarding, and, once the autonomous mobile unit is boarding, controls the elevator car to move to the floor where the waste bin is installed. The aforementioned server for autonomous mobile vehicles is The elevator server includes a third communication unit that receives the movement instruction and transmits the received movement instruction to the autonomous mobile unit, The autonomous mobile body, A fourth communication unit that receives the aforementioned movement instruction, A driving control unit, upon receiving the aforementioned movement instruction, drives the autonomous mobile body to the elevator car platform, boards the elevator car, moves to the floor where the waste bin is located, collects the waste from the waste bin, and transports the collected waste to the collection area. An elevator control system equipped with [this feature].

2. Each of the one or more waste bins is: A detection unit that detects when the amount of waste exceeds a predetermined amount, When the detection unit detects that the amount of waste exceeds a predetermined amount, a fifth communication unit transmits the collection request to the elevator server, The elevator control system according to claim 1, comprising:

3. The aforementioned server for autonomous mobile vehicles is The system further includes a determination unit that, upon receiving the aforementioned movement instruction, determines whether or not the autonomous mobile body is in a state where it can move to the cart, The third communication unit transmits a movement instruction to the autonomous mobile body when the determination unit determines that the autonomous mobile body is in a state where it can move to the cart. The elevator control system according to claim 1.

4. The elevator server is A recording unit for recording the usage time of the elevator, The system further comprises a determination unit that determines the startup time of the autonomous mobile unit based on the usage time, The first communication unit transmits the determined startup time of the autonomous mobile unit to the autonomous mobile unit server. The third communication unit of the autonomous mobile unit server further receives the startup time of the autonomous mobile unit from the elevator server, The determination unit of the autonomous mobile unit server, upon receiving the movement instruction, determines whether the current time corresponds to the startup time of the autonomous mobile unit, and whether the autonomous mobile unit is in a state where it can move to the elevator car. The third communication unit of the autonomous mobile unit server transmits the movement instruction to the autonomous mobile unit when the determination unit determines that the current time corresponds to the startup time of the autonomous mobile unit and that the autonomous mobile unit is in a state where it can move to the elevator car. The elevator control system according to claim 3.

5. The aforementioned startup time is during the nighttime hours. The driving control unit of the autonomous mobile vehicle, when driving during the nighttime hours, shall set the driving speed to a lower speed than the speed when driving outside of the nighttime hours. The elevator control system according to claim 4.

6. The autonomous mobile body, It also includes an imaging unit, When there is only one elevator, if the vehicle boards the elevator car, and the vehicle detects, based on the image captured by the imaging unit, that the elevator car is wheelchair accessible and that the handicap button has been pressed, the vehicle shall stop collecting the waste. The elevator control system according to claim 1.

7. The aforementioned elevator car is equipped with a spraying device that sprays a deodorant, The second control unit of the control panel is The autonomous mobile vehicle that has collected the waste from the waste box is moved in the elevator car from the floor where the waste box is installed to the floor where the collection area is located, and after the autonomous mobile vehicle disembarks from the elevator car on the floor where the collection area is located, the deodorant is sprayed from the spraying device. The driving control unit of the autonomous mobile body further, after collecting the waste from the waste box, boards the elevator car and moves to the collection site, and disposes of the collected waste at the collection site. The elevator control system according to claim 1.

8. The driving control unit of the autonomous mobile unit further determines, after retrieving the waste from the waste bin, whether it is possible to transport the waste from the waste bin on another floor, and if it is possible, boards the elevator car and moves to the waste bin on the other floor to retrieve the waste. The elevator control system according to claim 7.

9. A waste collection method performed by an elevator control system comprising: an autonomous mobile body capable of autonomously moving into an elevator car installed within a building; a control panel for controlling the elevator car in which the autonomous mobile body and a person can ride; an elevator server connected by a network to the control panel and controlling the raising and lowering of the elevator cars of all elevators in the building; an autonomous mobile body server connected by a network to the elevator server and the autonomous mobile body and controlling the autonomous mobile body; and one or more waste boxes provided in a predetermined location within the building and capable of containing waste, wherein The elevator server receives a collection request from each of the one or more waste bins, which includes the floor on which the waste is located and that the amount of waste has exceeded a predetermined amount, and is a request for the collection of the waste. When the elevator server receives the collection request from the waste box, it generates a destination floor call for the autonomous mobile unit indicating a request to move the elevator car with the installation floor included in the collection request as the destination floor; When the elevator server receives the collection request from the waste box, it transmits a movement instruction to the autonomous mobile unit server, which is an instruction to move the autonomous mobile unit to the installation floor included in the collection request in order to collect the waste, and transmits a destination floor call for the autonomous mobile unit to the control panel. The control panel receives a destination floor call for the autonomous mobile unit from the elevator server, The control panel, upon receiving a destination floor call for the autonomous mobile unit, switches to autonomous mobile unit-only operation mode, allowing only the autonomous mobile unit to board the elevator car; moves the elevator car to the floor where the autonomous mobile unit for waste collection will board; and, once the autonomous mobile unit is on board, controls the elevator car to move to the floor where the waste bin is installed. The autonomous mobile unit server receives the movement instruction from the elevator server and transmits the received movement instruction to the autonomous mobile unit. The autonomous mobile unit receives the movement instruction, When the autonomous mobile unit receives the movement instruction, it moves the autonomous mobile unit to the platform of the elevator car, boards the elevator car, moves to the floor where the waste bin is installed, collects the waste from the waste bin, and transports the collected waste to the collection area. A waste collection method that includes [specific waste collection methods].

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