Elevator control device, elevator control system, and elevator control method

Abstract

To enable efficient movement of autonomous mobile units and to improve their work efficiency without reducing human work efficiency, by allowing them to perform their functions effectively. [Solution] The elevator control device of the embodiment is an elevator control device that controls the raising and lowering of an elevator car installed in a building, which can carry an autonomous mobile body that performs predetermined tasks and a person, and an elevator car that can move autonomously in the elevator car, and comprises an acquisition unit that acquires the degree of congestion of the elevator, a determination unit that determines whether or not the autonomous mobile body can be dispatched to the elevator based on the acquired degree of congestion of the elevator, and an instruction unit that, if it is determined that dispatch to the elevator is possible, gives an instruction to the autonomous mobile body that has been determined to be able to dispatch to the elevator.

Description

Technical Field

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

Background Art

[0002] In recent elevator control systems, autonomous mobile bodies such as robots that perform various operations such as delivery services, cleaning, security, and inspections are made to board the elevator car and are subjected to autonomous mobile body interlocking operations such as moving to the destination floor (target floor).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Patent Document 6

Patent Document 7

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, conventional technology controls the movement of autonomous mobile units using elevators, regardless of the type of autonomous mobile unit, and the operating specifications of the elevators linked to the autonomous mobile units are uniform. As a result, conventional technology sometimes resulted in autonomous mobile units being unable to perform tasks or to perform their functions, or the operational efficiency of the autonomous mobile units decreased, such as by increasing the travel time. [Means for solving the problem]

[0005] The elevator control device of the embodiment is an elevator control device that controls the raising and lowering of an elevator car installed in a building, which can carry an autonomous mobile body that performs predetermined tasks and a person, and an elevator car that can move autonomously in the elevator car, and comprises an acquisition unit that acquires the degree of congestion of the elevator, a determination unit that determines whether or not the autonomous mobile body can be dispatched to the elevator based on the acquired degree of congestion of the elevator, and an instruction unit that, if it is determined that dispatch to the elevator is possible, gives an instruction to the autonomous mobile body that has been determined to be able to dispatch to the elevator. [Brief explanation of the drawing]

[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 shows an example of the functional configuration of the camera unit according to the first embodiment. [Figure 3] Figure 3 is a block diagram showing an example of the functional configuration of a control panel 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 elevator cloud according to the first embodiment. [Figure 5] Figure 5 shows an example of congestion history data according to the first 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 the first embodiment. [Figure 7]Figure 7 is a block diagram showing an example of the functional configuration of a robot according to the first embodiment. [Figure 8] Figure 8 is a sequence diagram showing an example of the overall flow of the elevator control process according to the first embodiment. [Figure 9] Figure 9 is a flowchart showing an example of the procedure for the robot decision process according to the first embodiment. [Figure 10] Figure 10 shows an example of congestion history data according to the second embodiment. [Figure 11] Figure 11 is a sequence diagram showing an example of the overall flow of the elevator control process according to the second embodiment. [Figure 12] Figure 12 is a flowchart showing an example of the procedure for the robot decision process 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, controllers 150A and 150B provided for each of the multiple elevators 2A and 2B, a camera unit 9, 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 robots 500A and 500B.

[0009] In this embodiment, multiple elevators 2A and 2B are installed in building 3 (an example of a building), such as an office building or an apartment building. Although only two elevators 2A and 2B are shown in the example in Figure 1, in reality, there are three or more elevators.

[0010] Each of the elevators 2A and 2B includes carriages 50A and 50B in each hoistway 20A and 20B respectively. In addition, each hoistway 20A and 20B includes a hoisting machine and a counterweight (not shown). The carriages 50A and 50B and the counterweight are each vertically movably supported by 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, and load sensors 8A and 8B. The operation panels 4A and 4B receive various operations from the user or perform 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 is specified with 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 boarding call is operational data performed by a boarding user to cause a train car 50 traveling in either an up or down direction to arrive at that boarding location. The boarding call specifies the destination direction and the floor from which the call was made (i.e., the departure floor).

[0016] Cameras 7A and 7B photograph the interior of elevator cars 50A and 50B and send the captured images to control panels 100A and 100B. In addition, when the doors of elevator cars 50A and 50B are open at the landing, cameras 7A and 7B are able to photograph the landing and send the captured images to control panels 100A and 100B.

[0017] 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.

[0018] There are boarding areas on each floor. These boarding areas are where users and robot 500 wait for the arrival of elevator cars 50A and 50B of elevators 2A and 2B.

[0019] Camera units 9 are installed on the walls of the landings on each floor. Camera units 9 capture images of the landings. In addition, camera units 10 are installed in areas of the building 3 other than the landings where elevator 2 users can move. Here, camera units 9 and 10 are examples of imaging devices.

[0020] Images captured by camera units 9 and 10 are stored within camera units 9 and 10 for image analysis, and the number of users of elevators 2A and 2B, as a result of the image analysis, is transmitted to server 210 in the elevator cloud 200 at regular intervals. Details of camera units 9 and 10 will be described later.

[0021] 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.

[0022] 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.

[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 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.

[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] Server 210 in the elevator cloud 200 instructs control panels 100A and 100B via controllers 150A and 150B to perform various controls on elevator cars 50A and 50B of elevators 2A and 2B, or receives various requests and data from control panels 100A and 100B via controllers 150A and 150B. Server 210 in the elevator cloud 200 receives the number of users and the number of people lingering in the elevator from camera units 9 and 10. 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.

[0026] 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.

[0027] The server 310 of the robot cloud 300 receives various requests 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 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.

[0028] The number of elevators is not limited; there are three or more elevators in Building 3. Also, there may be just one elevator. Therefore, the number of hoistways 20A, 20B, elevator cars 50A, 50B, control panels 100A, 100B, and controllers 150A, 150B will vary depending on the number of elevators 2A, 2B. Here, if multiple elevators 2A, 2B, multiple hoistways 20A, 20B, multiple elevator cars 50A, 50B, multiple control panels 100A, 100B, and multiple controllers 150A, 150B are not distinguished, they will be referred to as elevator 2, hoistway 20, elevator car 50, control panel 100, and controller 150. Similarly, if control panels 4A, 4B, cameras 7A, 7B, and load sensors 8A, 8B are not distinguished, they will be referred to as control panel 4, camera 7, and load sensor 8.

[0029] Robots 500A and 500B are autonomous mobile units capable of autonomously navigating and boarding elevator 2. When robots 500A and 500B are not distinguished, they will be referred to as robot 500. Robot 500 performs various tasks such as delivery services, cleaning, security, and inspection. The robot 500 according to this embodiment includes at least a security robot 500A that performs security duties within building 3, and a cleaning robot 500B that performs cleaning duties within building 3, including elevator 2. Details of robot 500 will be described later.

[0030] Next, we will describe the details of camera units 9 and 10. Camera units 9 and 10 have the same configuration. Figure 2 shows an example of the functional configuration of camera units 9 and 10 according to the first embodiment. Camera units 9 and 10 are examples of imaging devices.

[0031] As shown in Figure 2, the camera units 9 and 10 mainly consist of a camera 901, an image processing unit 902, a communication unit 903, and a storage unit 910.

[0032] The memory unit 910 is a storage medium such as an HDD (Hard Disc Drive) or an SSD (Solid State Drive). Camera 901 captures images of the surrounding area, namely the boarding area and the inside of building 3, and stores the captured images in the storage unit 910.

[0033] The image processing unit 902 analyzes the images captured by the camera 901 and stored in the memory unit 910 to count the number of users of elevator 2 per unit of time. Specifically, the image processing unit 902 of the camera unit 9 installed at the landing analyzes the captured images to count the number of people (hereinafter referred to as "waiters") who are loitering at the landing and waiting for elevator 2 to arrive per unit of time.

[0034] The image processing unit 902 of the camera unit 10, located outside the elevator landings in Building 3, counts the number of people per unit of time who move outside the elevator landings in Building 3, pass through the camera unit 10, and head towards elevator 2 (hereinafter referred to as "passers"). Here, passers and lingering persons correspond to users of elevator 2.

[0035] At regular intervals, camera 901 captures images of the surroundings, and image processing unit 902 begins analyzing the number of users. The start date and time of each regular interval is referred to as the acquisition time.

[0036] The communication unit 903 transmits the number of people passing through and staying per unit time (i.e., the number of users) counted by the image processing unit 902 to the server 210 in the elevator cloud 200. A unit time is, for example, 30 minutes or 1 hour, but is not limited to these. Specifically, the image processing unit 902 counts the number of users for a predetermined unit time from the acquisition time, and once the unit time has elapsed, the communication unit 903 transmits the number of users counted during that unit time to the server 210 in the elevator cloud 200.

[0037] Next, I will explain the control panel 100. Figure 3 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 an elevator control device. The control panel 100 has a typical computer configuration and, as shown in Figure 3, mainly comprises an image processing unit 124, a control unit 120, a communication unit 102, and a storage unit 110.

[0038] Furthermore, as shown in Figure 2, the control panel 100 is connected by wire or wireless to the load sensor 8 and the camera 7 inside the elevator car 50. 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.

[0039] 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").

[0040] 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.

[0041] The image processing unit 124 analyzes the image captured by the camera 7. 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.

[0042] 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, a robot-linked operation control unit 122, and an assignment unit 125.

[0043] When the communication unit 102 receives a destination floor call for a robot from the server 210 of the elevator cloud 200, the assignment unit 125 assigns the elevator car 50 to the destination floor call through group control in cooperation with the control panel 100 of other elevators 2.

[0044] Here, group control refers to the control that assigns the elevator car 5 closest to the departure floor, such as the floor from which the elevator car 50 was called. In this embodiment, the assignment unit 125 performs group control in cooperation with the other control panel 100 by, for example, querying the control panel 100 of another elevator 2 for the departure floor, the current position and status of elevator car 5, and receiving the response.

[0045] The normal operation control unit 121 controls normal operation. Normal operation refers to operation with only humans riding in car 5, without any robots on board.

[0046] The robot-linked operation control unit 122 controls the robot-linked operation. Robot-linked operation refers to operation in which robot 500 is placed in elevator car 5. Robot-linked operation can be divided into two types: robot-only operation, where no human passengers are allowed in elevator car 5, and non-robot-only operation, where humans are allowed in elevator car 5. Robot-linked operation is sometimes simply referred to as robot operation.

[0047] Next, we will explain the server 210 within the elevator cloud 200. Figure 4 is a block diagram showing an example of the functional configuration of a server 210 within the elevator cloud 200 according to the embodiment. As shown in Figure 4, the server 210 mainly comprises a control unit 211, a decision unit 213, a communication unit 212, and a storage unit 220, as is typical for a computer.

[0048] 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.

[0049] In this embodiment, the communication unit 212 receives from each of the camera units 9 and 10 at regular intervals the number of people passing through and staying in the elevator 2 per unit time (i.e., the number of users).

[0050] Furthermore, if the decision unit 213, described later, determines that it is possible to dispatch to elevator 2, the communication unit 212 issues a movement instruction to the robot 500 that has been determined to be able to dispatch (i.e., the security robot 500A or the cleaning robot 500B) to move to elevator 2. Specifically, the communication unit 212 issues a movement instruction to the robot 500 by sending a movement instruction specifying the robot ID of the robot 500 that has been determined to be able to dispatch (i.e., the security robot 500A or the cleaning robot 500B) to the server 310 in the robot cloud 300. The communication unit 212 is an example of an acquisition unit and an instruction unit.

[0051] Furthermore, the communication unit 212 receives information from the server 310 of the robot cloud 300, including the robot ID, departure floor, and destination floor specified by the robot 500. The communication unit 212 also transmits the destination floor call generated by the control unit 211 to the control panel 100.

[0052] The control unit 211 consists of a hardware processor (CPU). When the communication unit 212 receives information from the server 310 of the robot cloud 300 that includes the robot ID, departure floor, and destination floor specified by the robot 500, the control unit 211 generates a destination floor call that includes the robot ID, departure floor, and destination floor.

[0053] The decision unit 213 determines whether or not to dispatch robot 500 to elevator 2 based on the number of users per unit time, which is the degree of congestion, obtained by the communication unit 212. Specifically, the decision unit 213 decides to dispatch security robot 500A if the sum of the number of users per unit time received from each of the camera units 9 and 10 by the communication unit 212 is less than or equal to a first threshold. Also, the decision unit 213 decides to dispatch cleaning robot 500B if the sum of the number of users per unit time received from each of the camera units 9 and 10 by the communication unit 212 is greater than or equal to a second threshold which is greater than the first threshold. The number of users per unit time and the sum of the number of users per unit time are examples of the degree of congestion.

[0054] The decision unit 213 makes a decision at regular intervals on whether or not to deploy the robot 500 based on the total number of users per unit time, and the decision result is retained for that regular period. The decision unit 213 then records the result of the decision on whether or not to deploy the robot as congestion history data 221 in the storage unit 220.

[0055] The storage unit 220 is, for example, a storage medium (memory device) such as an HDD, SSD, ROM, or RAM. Various programs are stored in the storage unit 220. Furthermore, the storage unit 220 according to this embodiment stores the congestion history data 221. The congestion history data 221 is data that shows the time-series history of the congestion level of the elevator 2.

[0056] Figure 5 shows an example of congestion history data 221 according to the first embodiment. As shown in Figure 5, the congestion history data 221 according to this embodiment associates the acquisition time, the total number of users as congestion (i.e., the number of passersby and people passing through), the congestion classification, whether or not security robots can be deployed, and whether or not cleaning robots can be deployed.

[0057] As described above, the acquisition time is the date and time when camera units 9 and 10 begin imaging the surroundings and analyzing the number of users. In the congestion history data 221 according to this embodiment, the number of users for elevator 2 on the first floor is received at acquisition times every three hours, with a fixed period of time.

[0058] The total number of users (i.e., the number of passersby and converging users) is the sum of the number of users per unit time received by the communication unit 212. Here, the determination unit 213 obtains and sums the number of users for the first unit time of each 3-hour acquisition period.

[0059] The congestion level is classified based on the total number of users per unit time. In the example in Figure 5, if the total number of users per unit time is between 0 and 99, the congestion level is classified as "low". If the total number of users per unit time is between 1000 and 150, the congestion level is classified as "medium". If the total number of users per unit time is between 151 and 200, the congestion level is classified as "high". If the total number of users per unit time is 201 or more, the congestion level is classified as "extra high".

[0060] The decision of whether or not to deploy the security robot is made by the decision unit 213 based on a first threshold. In the example in Figure 5, the first threshold is 50 people. Therefore, the decision unit 213 decides to deploy the security robot 500A if the total number of users per unit time is 50 or less, and decides not to deploy the security robot 500A if the total number of users per unit time is greater than 50, and records the respective decision results in the congestion history data 221.

[0061] The decision of whether or not to deploy the cleaning robot is made by the decision unit 213 based on a second threshold. In the example in Figure 5, the second threshold is 150 people. Therefore, the decision unit 213 decides to deploy the cleaning robot 500B if the total number of users per unit time is 150 or more, and decides not to deploy the cleaning robot 500B if the total number of users per unit time is less than 150, and records the respective decision results in the congestion history data 221. However, the examples of the first and second thresholds are not limited to those shown.

[0062] Next, we will describe the server 310 within the robot cloud 300. Figure 6 is a block diagram showing an example of the functional configuration of a server 310 within a robot cloud 300 according to an 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.

[0063] The memory unit 320 is a storage medium (memory device) such as ROM or RAM. Various programs are stored in the memory unit 320.

[0064] 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.

[0065] In this embodiment, the communication unit 312 receives information from the robot 500, including the robot ID, departure floor, and destination floor specified by the robot 500, and transmits this information to the server 210 of the elevator cloud 200.

[0066] The control unit 311 consists of a hardware processor (CPU). The control unit 311 controls various processes related to the elevator for the robot 500.

[0067] Next, I will explain Robot 500. Figure 7 is a block diagram showing an example of the functional configuration of a robot 500 according to an 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 drive unit 503, and a storage unit 510. Furthermore, both the security robot 500A and the cleaning robot 500B have the same functional configuration as shown in Figure 7.

[0068] 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.

[0069] The various sensors 505 include, for example, motion sensors, acceleration sensors, and load sensors, but are not limited to these.

[0070] 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.

[0071] 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 transmits information including the robot ID, departure floor, and destination floor to the server 310 in the robot cloud 300. The communication unit 502 also receives instructions to wait at the landing or to stop operation from the server 310 in the robot cloud 300.

[0072] The drive unit 503 drives the robot 500 to make it move. The control unit 501 consists of a hardware processor (CPU). During normal operation of the elevator 2, the control unit 501 reads and executes various programs from the memory unit 510, thereby performing various operations on the elevator 2.

[0073] In this embodiment, when the robot boards the elevator car 5 of the elevator 2, the control unit 501 generates information including the robot ID, the departure floor, and the destination floor. The control unit 501 also controls the drive of the drive unit 503 based on instructions from the server 310 in the robot cloud 300 to control the robot's movement.

[0074] 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.

[0075] 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 the first embodiment. In Figure 8, n is the number of camera units 9 and 10.

[0076] In each of the n camera units 9 and 10, camera 901 performs imaging, and image processing unit 902 analyzes the captured image to determine the number of users per unit time (S100). Then, communication unit 903 transmits the number of users per unit time to server 210 of elevator cloud 200 (S101).

[0077] In the elevator cloud 200 server 210, the communication unit 212 receives the number of users per unit time from each of the n camera units 9 and 10. Then, the decision unit 213 performs the decision process for the robot 500 (S102).

[0078] Here, we will explain the details of the decision-making process for robot 500 in S102. Figure 9 is a flowchart showing an example of the procedure for the robot decision process according to the first embodiment.

[0079] First, in the elevator cloud 200 server 210, the decision unit 213 calculates the total number of users per unit time received by the communication unit 212 and determines whether the total is less than or equal to a first threshold (S201). If the total number of users is less than or equal to the first threshold (S201: Yes), the decision unit 213 decides to dispatch the security robot 500A and not dispatch the cleaning robot 500B (S202). Then, the process returns to the caller.

[0080] On the other hand, if the total number of users in S201 is greater than the first threshold (S201: No), the decision unit 213 decides not to deploy the security robot 500A (S203). Next, the decision unit 213 determines whether the total number of users is greater than or equal to the second threshold (S204). If the total number of users is greater than or equal to the second threshold (S204: Yes), the decision unit 213 decides to deploy the cleaning robot 500B (S205).

[0081] On the other hand, if the total number of users in S204 is less than the second threshold (S204: No), the decision unit 213 decides not to deploy the cleaning robot 500B (S206). Then, processing returns to the caller.

[0082] Once the robot 500 determination process in S102 is complete and there are robots 500 available for deployment, the communication unit 212 specifies the robot ID of the deployable robot 500 (i.e., security robot 500A and / or cleaning robot 500B) and sends a movement instruction for that robot 500 to the server 310 of the robot cloud 300 (S103).

[0083] In the robot cloud 300 server 310, the communication unit 312 receives a movement instruction for a deployable robot 500 from the elevator cloud 200 server 210, and transmits the received movement instruction to the robot 500 with the specified robot ID (S104).

[0084] In robot 500, when the communication unit 502 receives a movement instruction from the server 310 of the robot cloud 300, the control unit 501 controls the drive unit 503 to move robot 500 from the waiting area to the boarding area according to the movement instruction (S105). Then, robot 500 waits at the boarding area.

[0085] If the floor to be worked on is the same floor as the waiting area of ​​robot 500, the process proceeds to S121, and robot 500 performs its work (S121). That is, security robot 500A performs security work, and cleaning robot 500B performs cleaning work. Once the work is completed, the process ends.

[0086] On the other hand, if the floor to be worked on is different from the floor where the robot 500 is waiting, the following process is performed. Specifically, the communication unit 502 of the robot 500 transmits its own robot ID, departure floor, and destination floor to the server of the robot cloud 300 (S106).

[0087] In the robot cloud 300, the server 310 has a communication unit 312 that receives the robot ID, departure floor, and destination floor from the robot 500, and transmits the received robot ID, departure floor, and destination floor to the elevator cloud 200 server 210 (S107).

[0088] In the elevator cloud 200 server 210, when the communication unit 212 receives the robot ID, departure floor, and destination floor from the robot cloud 300 server 310, the control unit 211 generates a destination floor call from the robot ID, departure floor, and destination floor (S108). The communication unit 212 then transmits the generated destination floor call to the control panel 100 (S109).

[0089] In the control panel 100, when the communication unit 102 receives a destination floor call from the server 210 of the elevator cloud 200 via the controller 150, the assignment unit 125 assigns an elevator car 50 based on the received destination floor call (S110). Here, the assignment of elevator cars 50 is performed by group control in cooperation with the control panel 100 that controls other elevators 2.

[0090] Next, the robot-linked operation control unit 122 of the control panel 100 moves the assigned elevator car 50 to the departure floor specified by the destination floor call (S111).

[0091] When elevator car 50 arrives at the departure floor and its doors open, robot 500, which has recognized the door opening via camera or other means, boards elevator car 50 (S112). Then, robot 500's communication unit 502 sends a boarding completion notification to the robot cloud 300 server 310 (S113).

[0092] This boarding completion notification is transmitted from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S114), and then transmitted from the server 210 of the elevator cloud 200 to the control panel 100 (S115).

[0093] In the control panel 100, when the communication unit 102 receives a boarding completion notification from the server 210 of the elevator cloud 200 via the controller 150, the robot-linked operation control unit 122 moves the elevator car 50 with the robot 500 inside to the destination floor (S116).

[0094] When elevator car 50 arrives at its destination floor, the communication unit 102 in the control panel 100 sends an arrival notification to the server 210 of the elevator cloud 200 via the controller 150 (S117). This arrival notification is then forwarded from the server 210 of the elevator cloud 200 to the server 310 of the robot cloud 300 (S118), and further forwarded from the server 310 of the robot cloud 300 to the robot 500 (S119).

[0095] In robot 500, when the communication unit 502 receives an arrival notification from the server 310 of the robot cloud 300, the control unit 501 controls the drive unit 503 to disembark robot 500 from the elevator car 50 (S120). Then, robot 500 performs its work on the floor where it disembarked (S121). That is, security robot 500A performs security work, and cleaning robot 500B performs cleaning work. Once the work is completed, the process ends.

[0096] In the elevator control system 1 according to this embodiment, the server 210 of the elevator cloud 200 acquires the congestion level of the elevator 2, determines whether or not the robot 500 can be dispatched to the elevator 2 based on the acquired congestion level of the elevator, and if it is determined that dispatch to the elevator 2 is possible, it issues a command to the robot 500 that has been determined to be able to dispatch to move to the elevator 2.

[0097] Therefore, according to this embodiment, since the elevator operation specifications are varied depending on the type of robot 500, it is possible to move the robot 500 efficiently and utilize the functions of the robot 500 to improve the work efficiency of the robot 500 without reducing the work efficiency of human workers.

[0098] Furthermore, in the elevator control system 1 according to this embodiment, the server 210 of the elevator cloud 200 obtains the number of users per unit time as a measure of congestion from one or more camera units 9, 10, and decides to dispatch the security robot 500A if the total number of users obtained is less than or equal to a first threshold.

[0099] Therefore, in this embodiment, when the number of users of elevator 2 is small and the level of congestion is low, the security robot 500A can be dispatched to elevator 2 to perform security duties. Accordingly, according to this embodiment, the security robot 500A can be moved efficiently, and its functions can be utilized to improve the work efficiency of the security robot 500A without reducing the work efficiency of human workers.

[0100] Furthermore, in the elevator control system 1 according to this embodiment, the server 210 of the elevator cloud 200 decides to dispatch the cleaning robot 500B when the total number of users acquired is greater than or equal to a second threshold which is greater than a first threshold.

[0101] Therefore, in this embodiment, when the elevator 2 is crowded with many users, there is little need to deploy the security robot 500A to the elevator 2. Rather, since there is a concern about dirt accumulation, the cleaning robot 500B can be deployed to perform cleaning. Accordingly, according to this embodiment, the cleaning robot 500B can be moved efficiently, and its functions can be utilized to improve the work efficiency of the cleaning robot 500B without reducing the work efficiency of human workers.

[0102] Furthermore, in the elevator control system 1 according to this embodiment, the server 210 of the elevator cloud 200 instructs the robot 500 to move to the elevator 2 via the server 310 of the robot cloud 300. Therefore, according to this embodiment, since the movement instructions are given via the server 310 of the robot cloud 300 that manages the robot 500, the work efficiency of the robot 500 can be further improved.

[0103] (Second embodiment) In the first embodiment, the decision to dispatch the robot 500 was based on the number of users of elevator 2 as the degree of congestion in elevator 2. However, in this second embodiment, the decision to dispatch the robot is based on the number of passengers who have landed in elevator car 50 as the degree of congestion in elevator 2.

[0104] The configuration of the elevator control system 1, the camera units 9 and 10, 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 second embodiment are all the same as in the first embodiment.

[0105] In this embodiment, the normal operation control unit 121 and the robot-linked operation control unit 122 of the control panel 100 start counting the number of stops each time the elevator car 50 under their management stops at each floor at regular intervals, and store the counted number of stops in the storage unit 110. The date and time at which the counting starts at regular intervals is referred to as the acquisition time. Here, the number of stops is counted as 1 for a stop at the departure floor, 1 for a stop at an intermediate floor, and 1 for a stop at the destination floor.

[0106] The communication unit 102 transmits the number of landings per unit time, counted by the normal operation control unit 121 and the robot-linked operation control unit 122, to the server 210 in the elevator cloud 200 via the controller 150. A unit time is, for example, one hour, but is not limited to this. Specifically, the normal operation control unit 121 and the robot-linked operation control unit 122 count the number of landings for a unit time from the acquisition time, and once the unit time has elapsed, the communication unit 102 transmits the number of landings counted during that unit time to the server 210 in the elevator cloud 200.

[0107] The communication unit 212 of the server 210 of the elevator cloud 200 receives the number of elevator cars 50 landings per unit time at each floor from one or more control panels 100.

[0108] The decision unit 213 of the elevator cloud 200 server 210 decides to dispatch the security robot 500A if the total number of landings received by the communication unit 212 is less than or equal to a third threshold. The decision unit 213 also decides to dispatch the cleaning robot 500B if the total number of landings received by the communication unit 212 is less than or equal to a fourth threshold which is greater than the third threshold.

[0109] The decision unit 213 makes a decision at regular intervals on whether or not to dispatch the robot 500 based on the total number of landings per unit time, and the decision result is retained for that regular period. The decision unit 213 then records the result of the decision on whether or not to dispatch the robot as congestion history data 221 in the storage unit 220.

[0110] Figure 10 shows an example of congestion history data 221 according to the second embodiment. As shown in Figure 10, the congestion history data 221 according to this embodiment associates the acquisition time, the total number of people who have taken up a bed as the level of congestion, the classification of the level of congestion, whether or not a security robot can be deployed, and whether or not a cleaning robot can be deployed.

[0111] The acquisition time is the date and time when the control panel 100 started counting the number of people who landed on the elevator, as described above. In the congestion history data 221 according to this embodiment, the number of people who landed on the elevator 2 on the first floor is received at acquisition times every three hours, with a fixed period of time.

[0112] The total number of implantations is the sum of the number of implantations per unit time received by the communication unit 212. Here, the determination unit 213 acquires the number of implantations for the first unit time of each 3-hour acquisition period and sums them up.

[0113] The congestion level is classified based on the total number of beds occupied per unit time. In the example in Figure 10, if the total number of beds occupied per unit time is between 0 and 30, the congestion level is classified as "low". If the total number of beds occupied per unit time is between 31 and 50, the congestion level is classified as "medium". If the total number of beds occupied per unit time is between 51 and 100, the congestion level is classified as "high". If the total number of beds occupied per unit time is 101 or more, the congestion level is classified as "extra high".

[0114] The decision of whether or not to deploy the security robot is made by the decision unit 213 based on a third threshold. In the example in Figure 10, the third threshold is 50. Therefore, the decision unit 213 decides to deploy the security robot 500A if the total number of landings per unit time is 50 or less, and decides not to deploy the security robot 500A if the total number of landings per unit time is greater than 50, and records the respective decision results in the congestion history data 221.

[0115] The decision of whether or not to deploy the cleaning robot is made by the decision unit 213 based on a fourth threshold. In the example in Figure 10, the fourth threshold is 130. Therefore, the decision unit 213 decides to deploy the cleaning robot 500B if the total number of beds landed per unit time is 130 or less, and decides not to deploy the cleaning robot 500B if the total number of beds landed per unit time is greater than 130, and records the respective decision results in the congestion history data 221. Examples of the third and fourth thresholds are not limited to those listed above.

[0116] Next, the elevator control process performed by the elevator control system 1 of this embodiment, configured as described above, will be explained. Figure 11 is a sequence diagram showing an example of the overall flow of the elevator control process according to the second embodiment. In Figure 11, n is the number of control panels 100.

[0117] First, in each of the n control panels 100, the normal operation control unit 121 and the robot-linked operation control unit 122 count the number of times the elevator car 50 lands (S301). Then, the communication unit 102 transmits the number of lands per unit time to the elevator cloud 200 server 210 via the controller 150 (S302).

[0118] In the elevator cloud 200 server 210, the communication unit 212 receives the number of landings per unit time from each of the n control panels 100. Then, the decision unit 213 executes the robot 500 decision process (S303).

[0119] Here, we will explain the details of the decision-making process for robot 500 in S303. Figure 12 is a flowchart showing an example of the procedure for the robot decision process according to the second embodiment.

[0120] First, in the elevator cloud 200 server 210, the decision unit 213 calculates the total number of landings per unit time received by the communication unit 212 and determines whether the total is less than or equal to a third threshold (S401). If the total number of landings is less than or equal to the third threshold (S401: Yes), the decision unit 213 decides to dispatch the security robot 500A and the cleaning robot 500B (S402). Then, the process returns to the caller.

[0121] On the other hand, in S401, if the total number of beds placed is greater than the third threshold (S401: No), the decision unit 213 decides not to deploy the security robot 500A (S403). Next, the decision unit 213 determines whether the total number of beds placed is less than or equal to the fourth threshold (S404). If the total number of beds placed is less than or equal to the fourth threshold (S404: Yes), the decision unit 213 decides to deploy the cleaning robot 500B (S405).

[0122] On the other hand, in S404, if the total number of implanted beds is greater than the fourth threshold (S404: No), the decision unit 213 decides not to dispatch the cleaning robot 500B (S406). Then, processing returns to the caller.

[0123] Once the robot 500 determination process in S303 is complete and there are available robots 500, the communication unit 212 specifies the robot ID of the available robot 500 (i.e., security robot 500A and / or cleaning robot 500B) and sends a movement instruction to the robot cloud 300 server 310 (S103). Subsequent processing is carried out in the same manner as in the first embodiment.

[0124] In the elevator control system 1 according to this embodiment, the server 210 of the elevator cloud 200 obtains the number of floors the elevator car 50 lands on per unit time from one or more control panels 100, and decides to dispatch an autonomous mobile security unit when the total number of floors landed obtained is less than or equal to a third threshold.

[0125] Therefore, in this embodiment, when the number of passengers using the elevator car 50 is small and the level of congestion is low, the security robot 500A can be dispatched to the elevator 2 to perform security duties. Accordingly, according to this embodiment, the security robot 500A can be moved efficiently, and its functions can be utilized to improve the work efficiency of the security robot 500A without reducing the work efficiency of human workers.

[0126] Furthermore, in the elevator control system 1 according to this embodiment, the server 210 of the elevator cloud 200 decides to dispatch an autonomous mobile cleaning unit when the total number of acquired floor landings is less than or equal to a fourth threshold greater than a third threshold.

[0127] Therefore, in this embodiment, when the number of passengers landing in the elevator car 50 is relatively large and the level of congestion is relatively high, there is little need to deploy the security robot 500A to the elevator 2. Rather, since there is a concern about the generation of dirt, the cleaning robot 500B can be deployed to perform cleaning. Accordingly, according to this embodiment, the cleaning robot 500B can be moved efficiently, and the cleaning robot 500B can perform its functions without reducing the work efficiency of human workers, thereby improving the work efficiency of the cleaning robot 500B.

[0128] (modified version) Various modifications can be considered for the above embodiment. In the above embodiment, an example was given in which one security robot 500A and one cleaning robot 500B were provided as the robot 500, but the invention is not limited to this.

[0129] For example, multiple security robots 500A and cleaning robots 500B may be provided. In this case, the robots 500 can perform their intended tasks more efficiently. In addition, robots 500 may be used for purposes other than security or cleaning.

[0130] If security robot 500A and cleaning robot 500B are moving to the same floor, the server 210 of the elevator cloud 200 may be configured to prioritize the movement of security robot 500. Alternatively, if robots 500 are waiting on the same floor, the server 210 of the elevator cloud 200 may be configured to have them ride together in the same elevator car 50.

[0131] The security robot 500 may be configured to contact the control room 160 or the monitoring center 400 via the server 310 of the robot cloud 300 if it detects a person acting suspiciously using the camera 506. In this case, the robot 500 can also send image and audio data collected by the camera 506.

[0132] Furthermore, in the above embodiment, the determination of whether or not to dispatch the robot 500 was made by comparing the degree of congestion with a threshold, but the determination unit 213 of the server 210 of the elevator cloud 200 may be configured to determine whether or not to dispatch the robot 500 according to the classification of the degree of congestion.

[0133] In this case, if the congestion level is classified as "extra large," the manager of robot 500 may manually instruct robot 500 to perform the work.

[0134] If the congestion level is classified as "small" or "medium," the control panel 100 may be controlled to allow the robot 500 to ride in the elevator car 50 together with a human, or to allow it to ride separately. If the congestion level is classified as "large" or "extra large," the control panel 100 can be configured to allow the robot 500 to ride in the elevator car 50 separately from a human.

[0135] Even if the level of congestion increases during a certain period of time (for example, 3 hours), the robot 500 may be configured so that it does not stop moving the elevator car 50 of the elevator 2 or performing tasks on each floor.

[0136] The robot 500 may be configured to send notifications regarding the start, duration, and completion of work, as well as image and audio data, in real time to the server 310 of the robot cloud 300.

[0137] After the congestion history data 221 is generated, the decision unit 213 of the elevator cloud 200 server 210 can be configured to determine whether or not to deploy the robot 500 based on the congestion history data 221. For example, on a different day from the day the congestion history data 221 was acquired, but within the same time period as the time the congestion history data 221 was acquired, the decision unit 213 can be configured to determine whether or not to deploy the robot 500 according to the deployment status recorded in the congestion history data 221. In this case, the decision process can be simplified, further improving work efficiency.

[0138] Even in this case, the determination unit 213 of the elevator cloud 200 server 210 may be configured to determine whether or not to dispatch the robot 500 based on the newly acquired congestion level if the congestion level differs from the record in the congestion level history data 221. In this case, it becomes possible to determine whether or not to dispatch the robot 500 more accurately in response to changes in the congestion level of the elevator 2, thereby enabling efficient movement of the robot 500 and allowing the robot 500 to perform its functions to further improve the work efficiency of the robot 500A without reducing the work efficiency of humans.

[0139] The elevator control program executed on the server 210 of the elevator cloud 200 according to the above embodiment and modified examples is provided pre-loaded into ROM or the like.

[0140] The elevator control program executed on the server 210 of the elevator cloud 200 according to the above embodiment and its modifications 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).

[0141] Furthermore, the elevator control program executed on the server 210 of the elevator cloud 200 according to the above embodiment and its modifications 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.

[0142] Furthermore, the elevator control program executed on the server 210 of the elevator cloud 200 according to the above embodiment and its modified form may be provided or distributed via a network such as the Internet.

[0143] The elevator control program executed on the server 210 of the elevator cloud 200 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 the elevator control program from the ROM and executes it, thereby loading each of the functional units onto the main memory, and generating each of the functional units on the main memory.

[0144] 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]

[0145] 1…Elevator control system, 2,2A,2B…Elevator, 3…Building, 4,4A,4B…Control panel, 5A…User, 7,7A,7B,901…Camera, 9,10…Camera unit, 8,8A,8B…Load sensor, 20,20A,20B…Housing shaft, 50,50A,50B…Elevator car, 100,100A,100B…Control panel, 120,211,311,501…Control unit, 102,212,312,502,903…Communication unit, 110,220,320,51 0, 910... Memory unit, 111... Management DB, 121... Normal operation control unit, 122... Robot-linked operation control unit, 124, 902... Image processing unit, 125... Assignment unit, 150, 150A, 150B... Controller, 160... Control room, 200... Elevator cloud, 210... Server (elevator control device), 213... Decision unit, 221... Congestion history data, 300... Robot cloud, 310... Server, 500, 500A, 500B, 500C... Robot, 503... Drive unit.

Claims

1. An elevator control device for an elevator having a car installed inside a building, which can carry an autonomous mobile body that performs predetermined tasks and a person, and which controls the raising and lowering of the car, An acquisition unit for acquiring the degree of congestion of the elevator, A determination unit that determines whether or not the autonomous mobile body can be dispatched to the elevator based on the acquired congestion level of the elevator, When it is determined that it is possible to dispatch to the elevator, the instruction unit issues an instruction to the autonomous mobile unit that has been determined to be able to dispatch to move to the elevator, An elevator control device equipped with [a specific feature].

2. The autonomous mobile unit includes an autonomous mobile unit for security purposes, which is used to guard the inside of a building. The acquisition unit acquires the number of users per unit time, which is the degree of congestion, from one or more imaging devices installed within the building and connected to the elevator control device via a network. The determination unit decides to dispatch an autonomous mobile security unit if the total number of users obtained is less than or equal to a first threshold. The elevator control device according to claim 1.

3. The autonomous mobile unit further includes an autonomous mobile unit for security purposes, for cleaning the inside of a building. The determination unit further decides to dispatch an autonomous mobile cleaning unit if the total number of users obtained is greater than or equal to a second threshold which is greater than the first threshold. The elevator control device according to claim 2.

4. The autonomous mobile unit includes an autonomous mobile unit for security purposes, which is used to guard the inside of a building. The acquisition unit is installed in the building corresponding to the elevator car, is connected to the elevator control device via a network, and acquires the number of floors the elevator car lands on per unit time from one or more control panels that control the elevator. The determination unit decides to dispatch an autonomous mobile security unit if the total number of acquired landings is less than or equal to a third threshold. The elevator control device according to claim 1.

5. The autonomous mobile unit further includes an autonomous mobile unit for security purposes, for cleaning the inside of a building. The determination unit further determines to dispatch an autonomous mobile cleaning unit if the total number of acquired beds is less than or equal to a fourth threshold greater than the third threshold. The elevator control device according to claim 4.

6. The elevator control device is connected to the autonomous mobile unit via a network and controls the autonomous mobile unit, and is connected to the network and is a server for the autonomous mobile unit. The instruction unit transmits a movement instruction to the elevator to the autonomous mobile unit via the autonomous mobile unit server. The elevator control device according to claim 1.

7. An elevator control system comprising: an autonomous mobile body capable of moving autonomously; an elevator control device that controls the raising and lowering of the elevator car of an elevator installed in a building, in which the autonomous mobile body and a person can ride; and an autonomous mobile body server connected to the elevator control device via a network and controlling the autonomous mobile body, The elevator control device is An acquisition unit for acquiring the degree of congestion of the elevator, A determination unit that determines whether or not the autonomous mobile body can be dispatched to the elevator based on the acquired congestion level of the elevator, The system includes an instruction unit that, when it is determined that the autonomous mobile unit is capable of deploying to the elevator, transmits a command to the autonomous mobile unit server to move to the elevator. The aforementioned server for autonomous mobile vehicles is When the elevator control device receives a movement instruction to the elevator, it transmits the received movement instruction to the elevator to the autonomous mobile unit that is determined to be ready for deployment. The autonomous mobile body, When an instruction to move to the elevator is received, the vehicle will start moving to the elevator. Elevator control system.

8. An elevator control method performed by an elevator control system comprising: an autonomous mobile body capable of moving autonomously; an elevator control device that controls the raising and lowering of the elevator car of an elevator installed in a building, in which the autonomous mobile body and a person can ride; and an autonomous mobile body server connected to the elevator control device via a network and controlling the autonomous mobile body, wherein The elevator control device includes the step of acquiring the degree of congestion of the elevator, The elevator control device determines whether or not the autonomous mobile body can be dispatched to the elevator based on the acquired degree of congestion of the elevator, The elevator control device, when it determines that it is possible to dispatch to the elevator, transmits a command to the autonomous mobile unit server to move to the elevator for the autonomous mobile unit that it has determined is capable of dispatching; The autonomous mobile unit server, upon receiving a movement instruction to the elevator from the elevator control device, transmits the received movement instruction to the elevator to the autonomous mobile unit that has been determined to be ready for deployment. The autonomous mobile unit, upon receiving an instruction to move to the elevator, begins to move towards the elevator. An elevator control method including [a specific feature / method].

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