Elevator control device and elevator control method

Abstract

To keep doors open on the security floor while maintaining security. [Solution] The elevator control device of the embodiment includes: a control unit that, upon receiving a destination floor call for an autonomous mobile unit, registers the destination floor call for the autonomous mobile unit, loads the autonomous mobile unit into the elevator car, and moves the elevator car to the security floor; a passenger determination unit that determines whether an autonomous mobile unit and a user are riding together in the elevator car when the elevator car carrying the autonomous mobile unit arrives at the security floor; a detection unit that detects input for a security release operation to deactivate the security system; and a door control unit that, when an autonomous mobile unit and a user are riding together in the elevator car, does not open the elevator car door, and when the detection unit detects input for a security release operation, controls the door to be opened.

Description

Technical Field

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

Background Art

[0002] In recent elevator control systems, an autonomous mobile body such as a robot is made to board an elevator car to perform various operations, and autonomous mobile body operation such as moving to a destination floor (target floor) is performed.

[0003] In the prior art, when an autonomous mobile body heading to a security floor where general users are restricted from entering and only specific persons can enter, and a user (person) heading to a general floor board the elevator car together, when the elevator car door is opened at the security floor to let the autonomous mobile body get off, a user without the right to enter the security floor can also hitch a ride and get off, which may cause security problems.

[0004] To solve such problems, a technique has been proposed in which, instead of immediately opening the door when the elevator car arrives at the security floor (i.e., door opening control), the door opening control is performed after confirming that there are no general users in the elevator car with the object detection device of the autonomous mobile body.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, when a regular passenger traveling to the same security floor as the autonomous vehicle boards the elevator car, it becomes impossible to keep the doors open at the security floor. This creates a problem where, while security is ensured, it becomes difficult to keep the doors open at the security floor when the autonomous vehicle and a passenger are both in the elevator car. [Means for solving the problem]

[0007] The elevator control device of the embodiment is provided for each elevator having a movable elevator car installed in a building, and is an elevator control device that controls the elevator, and includes a receiving unit that can receive a destination floor call for requesting the movement of the elevator car, which specifies the destination floor that is the destination of the elevator car, and a destination floor call for an autonomous mobile body, which specifies a security floor where entry for general users is restricted and entry is permitted only to specific persons as the destination floor of an autonomous mobile body that can move autonomously, and when the elevator control device receives the destination floor call for the autonomous mobile body, it registers the destination floor call for the autonomous mobile body and the elevator car The vehicle includes: a control unit that places the autonomous mobile vehicle on the vehicle and moves the vehicle to the security floor; a passenger determination unit that determines whether the autonomous mobile vehicle and the user are riding in the vehicle when the vehicle carrying the autonomous mobile vehicle arrives at the security floor; a detection unit that detects input for a security release operation to deactivate the security system; and a door control unit that, when the autonomous mobile vehicle and the user are riding in the vehicle, does not open the door of the vehicle, and when the detection unit detects input for the security release operation, controls the door to be opened. [Brief explanation of the drawing]

[0008] [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 configuration of the control panel inside the elevator car according to the first embodiment. [Figure 3] Figure 3 shows an example of a boarding area according to the first embodiment. [Figure 4] Figure 4 shows an example of the configuration of the control panel at the boarding area according to the first embodiment. [Figure 5] Figure 5 is a block diagram showing an example of the functional configuration of a control panel according to the first embodiment. [Figure 6] Figure 6 is a block diagram showing an example of the functional configuration of a server in the elevator cloud according to the first embodiment. [Figure 7] Figure 7 is a block diagram showing an example of the functional configuration of a server in a robot cloud according to the first embodiment. [Figure 8] Figure 8 is a block diagram showing an example of the functional configuration of a robot according to the first embodiment. [Figure 9] Figure 9 is a sequence diagram showing an example of the overall flow of the elevator control process according to the first embodiment. [Figure 10] Figure 10 is a flowchart showing an example of the procedure for the security deactivation process according to the first embodiment. [Figure 11] Figure 11 is a flowchart showing an example of the procedure for the security deactivation process according to the second embodiment. [Figure 12] Figure 12 is a flowchart showing an example of the procedure for the security deactivation process according to the third embodiment. [Modes for carrying out the invention]

[0009] The embodiments will be described below with reference to the drawings.

[0010] (First embodiment) FIG. 1 is a diagram showing an example of the overall configuration of an elevator control system 1 according to the first embodiment. As shown in FIG. 1, the elevator control system 1 of the present embodiment mainly includes control panels 100A and 100B provided for each of a plurality of elevators 2A and 2B, controllers 150A and 150B provided for each of the plurality of elevators, a security system 161 provided in a control room 160, a server 210 in an elevator hoistway 200, a server 310 in a robot cloud 300, a monitoring center 400, and an elevator company 700.

[0011] In the present embodiment, a plurality of elevators 2A and 2B are installed in a building 3 (an example of a building) such as an apartment building. In the example of FIG. 1, two elevators 2A and 2B are illustrated, but the configuration may be such that only one elevator or three or more elevators are present.

[0012] Each of the elevators 2A and 2B includes carriages 50A and 50B in respective hoistways 20A and 20B. 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 on a pair of guide rails (not shown) erected in the hoistways 20A and 20B, and move up and down via ropes.

[0013] In addition to the users 5A, robots 500A, 500B, and 500C as autonomous mobile bodies can also board the carriages 50A and 50B.

[0014] The carriages 50A and 50B are provided with operation panels 4A and 4B, cameras 7A and 7B, load sensors 8A and 8B, and human presence sensors 12A and 12B. The operation panels 4A and 4B receive various operations from the users in the carriages 50A and 50B, and also perform various notifications to the carriages 50. The operation panels 4A and 4B are connected to the control panels 100A and 100B by wire or wirelessly.

[0015] FIG. 2 is a diagram showing an example of the configuration of the operation panels 4A and 4B inside the car 50 according to the first embodiment. As shown in FIG. 2, a plurality of push buttons 413 and two open / close push buttons 414 are provided in the central portions of the operation panels 4A and 4B.

[0016] Each of the plurality of push buttons 413 is assigned a floor number. By pressing the push button 413 corresponding to the floor number of the destination floor desired by the user, a destination floor call is transmitted from the operation panels 4A and 4B to the control panels 100A and 100B.

[0017] One of the two open / close push buttons 414 is a button for giving an instruction to open the doors of the cars 50A and 50B when pressed by the user. The other of the two open / close push buttons 414 is a button for giving an instruction to close the doors of the cars 50A and 50B when pressed by the user. Here, opening the door may be referred to as "door open", and closing the door may be referred to as "door close".

[0018] Here, the destination floor call is a request (operation data) made by the user inside the car 50 to make the car 50 go to the desired destination floor. The destination floor is specified for the destination floor call.

[0019] Also, in this embodiment, the destination floor call for the robot is transmitted from the server 210 in 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 car 50 to the specified departure floor and making it go from the departure floor to the specified destination floor.

[0020] Note that, together with the push buttons 413 and the open / close push buttons 414, or instead of the push buttons 413 and the open / close push buttons 414, a non-contact sensor may be provided on the operation panels 4A and 4B.

[0021] As shown in Figure 2, a liquid crystal display unit 411 and a speaker 412 are provided at the top of the control panels 4A and 4B. The liquid crystal display unit 411 is a display device that displays various information in response to instructions from control panels 100A, 100B, etc. In the example in Figure 2, the liquid crystal display unit 411 displays an upward arrow indicating that elevator cars 50A and 50B are ascending, and the number "3" indicating that they are currently passing the 3rd floor.

[0022] Speaker 412 outputs various audio signals based on instructions from control panels 100A, 100B, etc.

[0023] Furthermore, as shown in Figure 2, a card reader 415 is provided at the bottom of the control panels 4A and 4B. The card reader 415 reads information from IC cards or smartphones held by users via proximity communication and transmits the read information to the control panels 100A and 100B.

[0024] Returning to Figure 1, cameras 7A and 7B inside elevator cars 50A and 50B photograph the interior of elevator cars 50A and 50B and send the captured images to control panels 100A and 100B. Also, when the doors of elevator cars 50A and 50B are open at landing 25, cameras 7A and 7B are able to photograph the landing and send the captured images to control panels 100A and 100B.

[0025] 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.

[0026] The motion sensors 12A and 12B are installed on the ceiling of the elevator cars 50A and 50B. They detect the presence of users (people) inside the elevator cars 50A and 50B and send detection signals to the control panels 100A and 100B.

[0027] Platform 25 is located on each floor. Platform 25 is where users and robots 500 wait for the arrival of elevator cars 50A and 50B of elevators 2A and 2B.

[0028] Figure 3 shows an example of a landing 25 according to the first embodiment. In the example in Figure 3, the landing 25 is shown from an oblique angle above, looking towards the elevator car 50. Also, the landing 25 shown in Figure 3 is the landing 25 on the security floor. Here, a security floor is a floor where general public access is restricted, and only specific individuals are allowed to enter.

[0029] As shown in Figure 3, each landing 25 on each floor is equipped with a camera 9 and an operation panel 55 on the wall surface where the door 14 is installed. The camera 9 captures images of the landing and transmits the captured images to control panels 100A and 100B.

[0030] The control panel 55 receives various operations from users of the platform 25 and also provides various notifications to the platform 25. The control panel 55 is connected to the control panels 100A and 100B by wire or wireless.

[0031] Figure 4 shows an example of the configuration of the control panel 55 of the landing 25 according to the first embodiment. As shown in Figure 4, two push buttons 553 are provided in the center of the control panel 55. The two push buttons 553 are buttons for indicating the destination direction of the elevator cars 50A and 50B. One of the two push buttons 553, when pressed by a user, indicates an upward direction as the destination of the elevator cars 50A and 50B. The other of the two push buttons 553, when pressed by a user, indicates a downward direction as the destination of the elevator cars 50A and 50B. When a push button 553 is pressed, a landing call with the pressed direction as the destination is transmitted to the control panel 100.

[0032] Here, a boarding call is a request (operation data) made by a boarding user to have a train car 50 traveling in either an up or down direction arrive at that boarding location. The boarding call specifies the destination direction and the floor from which the boarding call was made (i.e., the departure floor).

[0033] Alternatively, a non-contact sensor may be provided on the control panel 55 along with the push button 553, or in place of the push button 553.

[0034] As shown in Figure 4, a liquid crystal display unit 551 and a speaker 552 are provided at the top of the control panel 55. The liquid crystal display unit 551 is a display device that displays various information in response to instructions from control panels 100A, 100B, etc. In the example in Figure 4, the liquid crystal display unit 551 displays an upward arrow indicating that elevator cars 50A and 50B are ascending, and the number "3" indicating that they are currently passing the 3rd floor.

[0035] Speaker 552 outputs various audio signals based on instructions from control panels 100A, 100B, etc.

[0036] Furthermore, a card reader 555 is provided at the bottom of the control panel 55, as shown in Figure 4. The card reader 555 reads information from IC cards, smartphones, etc., held by users via proximity communication and transmits the read information to control panels 100A, 100B, etc.

[0037] Returning to Figure 3, at the landing 25 on the security floor, an external device 58 is provided at the lower part of the side wall of the hold door 14, that is, below the control panel 55.

[0038] External device 58 is configured as a computer, comprising a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), input devices, output devices, communication devices, etc. External device 58 receives various inputs from the input devices by personnel in the control room 160. External device 58 is capable of communicating with the security system 161, which will be described later.

[0039] Returning to Figure 1, control panels 100A and 100B and controllers 150A and 150B are installed inside the elevator shafts 20A and 20B, respectively. 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.

[0040] 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.

[0041] 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, ROM, RAM, etc.

[0042] Control room 160 is where the building manager and other personnel of Building 3 are stationed. A security system 161 is installed in control room 160. The security system 161 is a computer equipped with a CPU, ROM, RAM, etc., and can communicate with robots 500A and 500B, control panels 100A and 100B, external devices 58, etc. The security system 161 performs various security-related processes.

[0043] The building manager and other personnel in control room 160 give various instructions to control panels 100A and 100B. In addition, the manager of control room 160 receives various instructions from control panels 100A and 100B via email or other means through a PC or terminal device.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] Elevator Company 700 is a company that provides elevator 2, and within Elevator Company 700, there is a server 710.

[0048] 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 motion sensors 12A, 12B, we will refer to them as control panel 4, camera 7, load sensor 8, and motion sensor 12.

[0049] Robots 500A, 500B, and 500C can move autonomously and board the elevator car 50. When robots 500A, 500B, and 500C are not distinguished, they will be referred to as robot 500. Robot 500 will perform various tasks using elevator 2. In this embodiment, robot 500 is intended for tasks such as security, cleaning, and inspection. Details of robot 500 will be described later.

[0050] Next, we will describe the details of the control panel 100. Figure 5 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 is an example of an elevator control device.

[0051] The control panel 100 has a typical computer configuration and, as shown in Figure 5, mainly comprises a control unit 120, a communication unit 102, a passenger determination unit 123, a detection unit 124, a door control unit 125, and a storage unit 110.

[0052] Furthermore, as shown in Figure 5, the control panel 100 is connected by wire or wireless to the load sensor 8, the camera 7 inside the elevator car 50, the landing camera 9, and the motion sensor 12. 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.

[0053] 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").

[0054] 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.

[0055] 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.

[0056] In this embodiment, the communication unit 102 receives destination floor calls and destination floor calls for the robot from the server 210 of the elevator cloud 200 via the controller 150. The communication unit 102 also receives information for security deactivation, which has been analyzed from the two-dimensional code by the robot 500, from the server 210 of the elevator cloud 200 via the controller 150.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] In this embodiment, when the communication unit 102 receives a destination floor call for the robot, specifying the security floor as the destination floor for the robot 500, the robot-linked operation control unit 122 registers the destination floor call for the robot in the storage unit 110, etc., places the robot 500 into the elevator car 50, and moves the elevator car 50 to the security floor.

[0062] Furthermore, if the robot-linked operation control unit 122 determines, based on the passenger determination unit 123, that the robot 500 and a user are riding together in the elevator car 50, and if the detection unit 124 does not detect an input for security release operation before the first threshold time has elapsed after the elevator car 50 arrives at the security floor, the robot cancels the destination floor call for the robot.

[0063] Furthermore, the robot-linked operation control unit 122, without detecting the input of a security release operation before the first threshold has elapsed, cancels the destination floor call for the robot. If another destination floor call is registered in the memory unit 110, etc., it moves the elevator car 50 to the destination floor specified by that other destination floor call. If no other destination floor call is registered, it moves the elevator car 50 to a predetermined base floor. Here, the predetermined base floor is, for example, the lobby floor where the entrance is located.

[0064] The passenger determination unit 123 determines whether the robot 500 and a user are riding together in the elevator car 50 when the elevator car 50 carrying the robot 500 arrives at the security floor. Specifically, the passenger determination unit 123 determines that the robot 500 and a user are riding together in the elevator car 50 if the total load of the elevator car 50 indicated by the detection signal from the load sensor 8 is greater than the sum of a predetermined load of the elevator car 50 itself and a predetermined load of the robot 500. Alternatively, the passenger determination unit 123 determines that the robot 500 and a user are riding together in the elevator car 50 if a user is visible in the captured image taken inside the elevator car 50 by the camera 7, that is, by analyzing the captured image. Alternatively, the passenger determination unit 123 determines that the robot 500 and a user are riding together in the elevator car 50 if a person is detected by the detection signal from the human presence sensor 12. However, the methods for determining whether someone is a passenger are not limited to these.

[0065] The detection unit 124 detects input for a security release operation to deactivate the security system. Specifically, the detection unit 124 detects input for a security release operation from the control panel 4 located inside the elevator car 50. This operation is performed by a specific user, i.e., a specific person, who has the authority to enter the security floor.

[0066] For example, a combination of pressing multiple push buttons 413 or open / close push buttons 414 can be predetermined as a security release operation. The detection unit 124 can then detect that a security release operation has been input when a specific person presses multiple push buttons 413 or open / close push buttons 414 in that combination. In addition, the detection unit 124 can detect that a security release operation has been input when a specific person brings a predetermined IC card or smartphone close to the card reader 415 of the control panel 4 and reads predetermined information.

[0067] Furthermore, the detection unit 124 can also detect input for security deactivation operations from equipment located outside the elevator car 50. For example, at the control panel 55 of the landing 25 on the security floor, if a predetermined combination of pressing of the push button 553 occurs, or if there is proximity operation of an IC card or smartphone to the card reader 555, and predetermined information is read, the detection unit 124 can detect that a security deactivation operation has been input. Moreover, if a predetermined input operation to an external device 58 is detected, the detection unit 124 can detect that a security deactivation operation has been input.

[0068] Alternatively, the detection unit 124 can also detect input for security deactivation operations through operations performed on the robot 500. For example, when the robot 500 reads a predetermined two-dimensional code from the two-dimensional code reader 507 (see Figure 8), which will be described later, the detection unit 124 can detect that input for security deactivation has occurred. Specifically, as described above, the communication unit 102 receives information for security deactivation analyzed from the two-dimensional code by the robot 500 from the server 210 of the elevator cloud 200, and the detection unit 124 detects that input for security deactivation has occurred by acquiring the security deactivation information received by the communication unit 102.

[0069] The door control unit 125, when the passenger determination unit 123 determines that the robot 500 and a user are both in the elevator car 50, does not open the door of the elevator car 50 (does not open the door), and when the detection unit 124 detects an input for a security release operation, it performs control to open the door (open the door).

[0070] Next, we will describe the details of server 210 within the elevator cloud 200. Figure 6 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 6, the server 210 mainly comprises a control unit 211, a communication unit 212, and a storage unit 220, as is typical for a computer.

[0071] 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.

[0072] 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.

[0073] In this embodiment, the communication unit 212 receives a request from the server 310 of the robot cloud 300 for the robot 500 to move to the security floor. The communication unit 212 also transmits to the control panel 100 a destination floor call, a destination floor call for the robot, and a landing call including the destination floor, which are generated by the control unit 211 described later. The communication unit 212 also receives information for deactivating security, which has been analyzed from the two-dimensional code by the robot 500, from the server 310 of the robot cloud 300, and transmits this information to the control panel 100.

[0074] The control unit 211 consists of a hardware processor (CPU). The control unit 211 receives a request from the communication unit 212 for the robot 500 to move to the security floor, and generates a destination floor call for the robot specifying the security floor as the destination floor and the departure floor as well. Here, the departure floor can be the base floor.

[0075] Next, we will describe the details of server 310 within robot cloud 300. Figure 7 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 7, the server 310 mainly comprises a control unit 311, a communication unit 312, and a storage unit 320, as is typical for a computer.

[0076] The memory unit 320 is a storage medium (memory device) such as ROM or RAM. Various programs are stored in the memory unit 320.

[0077] 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.

[0078] In this embodiment, the communication unit 312 receives a request from the robot 500 to move to the security floor, along with the robot ID, and transmits the received request to move to the security floor to the server 210 of the elevator cloud 200. The communication unit 312 also receives information for deactivating security, which has been analyzed from the two-dimensional code by the robot 500, and transmits this information to the server 210 of the elevator cloud 200.

[0079] The control unit 311 consists of a hardware processor (CPU). The control unit 311 controls various processes related to the robot 500.

[0080] Next, we will explain the details of Robot 500. Figure 8 is a block diagram showing an example of the functional configuration of a robot 500 according to the first embodiment. As shown in Figure 8, the robot 500 mainly comprises a camera 506, a two-dimensional code reader 507, various sensors 505, a control unit 501, an input unit 508, a communication unit 502, a driving control unit 509, a drive unit 503, and a storage unit 510.

[0081] 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.

[0082] The two-dimensional code reader 507 is a device that reads two-dimensional codes brought close to the user, a designated person, or personnel in the control room 160.

[0083] The various sensors 505 include, for example, motion sensors, acceleration sensors, and load sensors, but are not limited to these.

[0084] 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.

[0085] The input unit 508 inputs and analyzes the two-dimensional code read by the two-dimensional code reader 507. In this embodiment, the two-dimensional code reader 507 reads the two-dimensional code for security deactivation, and the input unit 508 analyzes it.

[0086] 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 the security deactivation information analyzed from the two-dimensional code by the input unit 508 to the control panel 100 via the server 310 of the robot cloud 300 and the server 210 of the elevator cloud 200.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] Next, the elevator control process performed by the elevator control system 1 of this embodiment, configured as described above, will be explained. Figure 9 is a sequence diagram showing an example of the overall flow of the elevator control process according to the embodiment.

[0091] First, the communication unit 502 of robot 500 sends a request to move to the security floor to the server 310 of the robot cloud 300 (S11). After that, robot 500 moves to the departure floor.

[0092] In the robot cloud 300, the server 310 receives a request from the robot 500 to move to the security floor, and transmits the received request to the elevator cloud 200 server 210 (S12).

[0093] In the elevator cloud 200 server 210, when the communication unit 212 receives a request to move to the security floor from the robot cloud 300 server 310, the control unit 211 generates a destination floor call for the robot, specifying the security floor as the destination floor and the departure floor, based on the received request to move to the security floor (S13). Then, the communication unit 212 transmits the generated destination floor call for the robot to the control panel 100 (S14).

[0094] In the control panel 100, when the communication unit 102 receives a destination floor call for the robot via the controller 150, the robot-linked operation control unit 122, in cooperation with other elevators 2, performs group control and assigns the elevator car 50 (S15). Then, the robot-linked operation control unit 122 of the control panel 100, which manages the assigned elevator car 50, moves the assigned elevator car 50 to the departure floor specified by the destination floor call for the robot (S16). When the elevator car arrives at the departure floor, the door control unit 125 opens the doors of the elevator car 50 (S17). Robot 500 boards the open elevator car 50 (S18).

[0095] When the robot 500 boards the elevator car 50, the door control unit 125 in the control panel 100 determines that the robot 500 has boarded based on the change in load from the load sensor 8, and closes the door (S19).

[0096] Next, in the control panel 100, the robot-linked operation control unit 122 moves the elevator car 50 to the security floor designated as the destination floor (S20). Next, the control panel 100 executes the security release process (S21).

[0097] Subsequently, robot 500 disembarks from elevator car 50 and enters the security floor (S22).

[0098] Here, we will explain the details of the S21 security deactivation process. Figure 10 is a flowchart showing an example of the procedure for the security deactivation process according to the first embodiment.

[0099] First, the robot-linked operation control unit 122 determines whether the elevator car 50 has arrived at the security floor designated by the robot 500, that is, the floor designated as the destination floor in the destination floor call for the robot (S101). Here, the robot-linked operation control unit 122 determines whether the elevator car 50 has arrived at the security floor based on its travel speed, travel time, and previous stops. If the elevator car 50 has not arrived at the security floor designated by the robot 500 (S101: No), it remains in standby mode.

[0100] When the elevator car 50 arrives at the security floor designated by the robot 500 (S101: Yes), the passenger determination unit 123 determines whether a user and the robot 500 are on board the elevator car 50 using the method described above (S102). If neither a user nor the robot 500 are on board the elevator car 50, the door control unit 125 opens the doors at the stopping floor (S106). Then, the process returns to the caller.

[0101] If, in S102, it is determined that a user and the robot 500 are riding together in the elevator car 50 (S102: Yes), the detection unit 124 starts accepting a security release operation (S103). The detection unit 124 then determines whether or not it has accepted the security release operation (S104).

[0102] If the detection unit 124 receives a security release operation request (S104: Yes), it terminates the acceptance of the security release operation request (S105). Then, the door control unit 125 opens the door at the stopping floor (S106). Then, the process returns to the caller.

[0103] On the other hand, if no security release operation is received in S104 (S104: No), the detection unit 124 determines whether a first threshold time has elapsed since the start of receiving the security release operation (S107). If the first threshold time has not elapsed since the start of receiving the security release operation (S107: No), the process returns to S104.

[0104] In S107, if the first threshold time has elapsed since the start of accepting the security release operation (S107: Yes), the detection unit 124 terminates accepting the security release operation (S108). Next, the robot-linked operation control unit 122 cancels the destination floor call for the robot in which the security floor is specified as the destination floor (S109). Next, if there is already a registered destination call, the robot-linked operation control unit 122 moves the elevator car 50 to the destination floor specified in that destination floor call, or if there is already a registered destination call, moves the elevator car 50 to the base floor (S110). Then, the process returns to the caller.

[0105] As described above, in the elevator control system 1 according to this embodiment, the control panel 100 can receive a destination floor call that specifies the destination floor of the elevator car 50 and requests the movement of the elevator car 50, and a destination floor call for the robot that specifies a security floor where entry for general users is restricted and only specific persons can enter, as the destination floor for the autonomously moving robot 500. When the control panel 100 receives a destination floor call for the robot, it registers the robot destination floor call, puts the robot 500 into the elevator car 50, moves the elevator car 50 to the security floor, and when the elevator car 50 with the robot 500 on board arrives at the security floor, it determines whether the robot 500 and a user are both on board the elevator car 50. If the robot 500 and a user are both on board the elevator car 50, the control panel 100 does not open the doors of the elevator car 50, and when it detects an input for a security release operation to release the security, it performs control to open the doors.

[0106] Therefore, according to this embodiment, even when the robot 500 heading to the security floor and the user are riding together in the elevator car 50, by receiving a security release operation after the elevator car 50 arrives at the security floor and then performing door opening control, it is possible to open the door at the security floor while ensuring security.

[0107] Furthermore, in the elevator control system 1 according to this embodiment, if the control panel 100 determines that a robot 500 and a user are riding together in the elevator car 50, and does not detect an input for a security release operation before a first threshold time has elapsed after the elevator car 50 arrives at the security floor, it cancels the destination floor call for the robot.

[0108] Therefore, according to this embodiment, if no input for security release operation is received even after the first threshold time has elapsed, it is determined that there is no entry to the security floor, and the destination floor call for the robot is canceled, thereby ensuring security.

[0109] Furthermore, in the elevator control system 1 according to this embodiment, after canceling a destination floor call for the robot, if another destination floor call is registered, the control panel 100 moves the elevator car 50 to the destination floor specified by that other destination floor call, and if no other destination floor call is registered, moves the elevator car 50 to a predetermined base floor.

[0110] Therefore, according to this embodiment, even after canceling the destination floor call for the robot, the operation efficiency of the elevator can be improved.

[0111] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 detects the input of a security release operation from the operation panel 4 installed inside the elevator car 50. Therefore, according to this embodiment, a security release operation can be easily performed by a specific person inside the elevator car 50 who is authorized to enter the security floor.

[0112] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 detects input of a security release operation from equipment installed outside the elevator car 40, or input of a security release operation by operating on the robot 500. Therefore, according to this embodiment, security release operations can be easily performed by specific persons authorized to enter the security floor, either from outside the elevator car 50 or by operating on the robot 500.

[0113] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 determines whether or not a robot 500 and a user are riding in the elevator car 50 based on a detection signal from a load sensor 8 installed in the elevator car 50, or an image of the inside of the elevator car 50 received from a camera 7 that captures images of the inside of the elevator car 50. Therefore, according to this embodiment, the determination of whether or not someone is riding in the elevator car can be made more accurately.

[0114] (Second embodiment) In the first embodiment, the security release process was performed on the premise that only destination floor calls for robots with a security floor as the destination floor were registered. In this second embodiment, if both destination floor calls for robots with a security floor as the destination floor and normal destination floor calls by general users with a destination floor other than the security floor are registered, the normal destination floor calls by users are given priority.

[0115] The configuration of the elevator control system 1, 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 is the same as in the first embodiment.

[0116] The configuration of the control panel 100 according to this embodiment is the same as in the first embodiment, but the robot-linked operation control unit 122 further has the following functions. When both a destination floor call for the robot specifying the security floor as the destination floor and a destination floor call specifying a floor other than the security floor as the destination floor are registered, the robot-linked operation control unit 122 cancels the destination floor call for the robot and prioritizes the normal destination floor call by the user if the passenger determination unit 123 determines that the robot 500 and a user are both on board the elevator car 50.

[0117] Furthermore, if the robot-linked operation control unit 122 determines, based on the passenger determination unit 123, that neither the robot 500 nor a passenger is in the elevator car 50, and that only the robot 500 is in the car, and if the state in which no destination floor call is registered continues for a second threshold time, the robot-linked operation control unit 122 will re-register the canceled destination floor call for the robot, which specifies the security floor as the destination floor, and move the elevator car 50 to the security floor.

[0118] Next, the security release process performed by the control panel 100 of the elevator control system 1 of this embodiment, which is configured as described above, will be explained. The overall flow of the elevator control process by the elevator control system 1 of this embodiment is the same as in the first embodiment.

[0119] Figure 11 is a flowchart showing an example of the procedure for the security deactivation process according to the second embodiment. First, the passenger determination unit 123 of the control panel 100 determines whether a user and the robot 500 are riding together in the elevator car 50 (S201). If a user and the robot 500 are riding together in the elevator car 50 (S201: Yes), the robot interlocking operation control unit 122 determines whether a normal destination floor call by a user with a destination floor other than the security floor has been registered (S202). If no normal destination floor call has been registered (S202: No), the security release process shown in Figure 10, which was described in the first embodiment, is executed from S101.

[0120] In S202, if a normal destination floor call is registered (S202:Yes), the robot interlocking operation control unit 122 cancels the destination floor call for the robot that has the security floor as the destination floor (S203). Then, the process returns to the caller.

[0121] In S201, if neither a user nor the robot 500 is in the elevator car 50 (S201: No), the passenger determination unit 123 determines whether only the robot 500 is in the elevator car 50 (S204). If only the robot 500 is not in the elevator car 50 (S204: No), then there are neither a user nor the robot 500 in the elevator car 50, and the process returns to the caller.

[0122] On the other hand, if only the robot 500 is in the elevator car 50 (S204:Yes), the robot-linked operation control unit 122 determines whether or not a registered destination floor call exists (S205). If a registered destination floor call exists (S205:Yes), the process returns to the caller.

[0123] On the other hand, if there are no registered destination floor calls (S205: No), the robot interlocking operation control unit 122 determines whether the second threshold time has elapsed (S206). If the second threshold time has not elapsed (S206: No), the process returns to the caller.

[0124] If the second threshold time has elapsed (S206: Yes), the robot interlocking operation control unit 122 re-registers the destination floor call for the robot, which was canceled in S203, etc., and whose destination floor is the security floor (S207). Then, the process returns to the caller.

[0125] In the elevator control system 1 according to this embodiment, if both a destination floor call for a robot with a security floor specified as the destination floor and a normal destination floor call with a floor other than the security floor specified as the destination floor are registered, the control panel 100 will cancel the destination floor call for the robot if it determines that a robot 500 and a user are riding together in the elevator car 50.

[0126] Therefore, according to this embodiment, when both a destination floor call for a robot and a regular destination floor call by a user are registered, the regular destination floor call is given priority, thus preventing a decrease in the operational efficiency of elevator 2.

[0127] Furthermore, in the elevator control system 1 according to this embodiment, if the control panel 100 determines that the robot 500 and a user are not riding together in the elevator car 50, and that only the robot 500 is riding, and if the state in which no destination floor call is registered continues for a second threshold time, the system re-registers the canceled destination floor call for the robot, which specifies the security floor as the destination floor, and moves the elevator car 50 to the security floor.

[0128] Therefore, according to this embodiment, if a destination floor call for the robot is canceled and no destination floor calls are registered for a second threshold time, the canceled destination floor call for the robot is registered again, assuming that there are no destination floor calls from other users. Accordingly, according to this embodiment, security can be ensured, doors can be opened on security floors, and the operational efficiency of elevator 2 can be prevented from decreasing.

[0129] (Third embodiment) In the second embodiment, when both a normal destination floor call and a destination floor call for a robot with the security floor as the destination floor are registered, the robot's destination floor call is canceled and the process ends. However, in this third embodiment, the canceled robot's destination floor call is handled by another elevator car 50.

[0130] The configuration of the elevator control system 1, the server 210 of the elevator cloud 200, the server 310 of the robot cloud 300, and the robot 500 according to the third embodiment is the same as in the first and second embodiments.

[0131] The configuration of the control panel 100 according to this embodiment is the same as in the second embodiment, but the robot-linked operation control unit 122 further has the following functions. After canceling the destination floor call for the robot, the robot-linked operation control unit 122, in cooperation with the control panel 100 of another elevator 2, if there is an elevator car 50 that does not have a robot 500 on board and there is a control panel 100 that does not have a destination floor call for the robot registered, registers a destination floor call on that control panel 100, with the floor to which the doors are scheduled to open next as the destination floor.

[0132] Furthermore, if the elevator car 50 stops at a floor where the doors are scheduled to open and the doors open, the robot 500 disembarks and registers a canceled destination floor call for the robot, which had a security floor designated as the destination floor, in the control panel 100 where there is an elevator car 50 without a robot 500 on board and where no destination floor call for the robot has been registered.

[0133] The door control unit 125 opens the doors when the elevator car 50 stops at the floor where the doors are scheduled to open next.

[0134] Next, the security release process performed by the control panel 100 of the elevator control system 1 of this embodiment, which is configured as described above, will be explained. The overall flow of the elevator control process by the elevator control system 1 of this embodiment is the same as in the first embodiment.

[0135] Figure 12 is a flowchart showing an example of the procedure for the security deactivation process according to the third embodiment. The processes from S201 to SS203 and from S204 to S207 are performed in the same manner as in the second embodiment.

[0136] If the destination floor call for the robot is canceled in S203, the robot-linked operation control unit 122 works in conjunction with the control panel 100 of the other elevator 2 to determine whether there are any other elevators 2 with unregistered destination floor calls (S301). If there are no other elevators 2 with unregistered destination floor calls (S301: No), the process returns to the caller.

[0137] On the other hand, if there is an elevator unit 2 for which a destination floor call has not been registered (S301: Yes), the robot-linked operation control unit 122 registers the destination floor call for the floor that is scheduled to open next in the control panel 100 of the street unit (S302). Then, the robot-linked operation control unit 122 has the robot 500 disembark when the elevator car 50 opens next time (S303). Specifically, the robot-linked operation control unit 122 sends an instruction to the robot 500 via the communication unit 102, through the elevator cloud 200 server 210 and the robot cloud 300 server 310, to disembark when the elevator car 50 opens next time. As a result, the robot 500 disembarks.

[0138] Next, the robot-linked operation control unit 122 places the robot 500 into the elevator car 50 of the elevator unit called in S302 (S304). Specifically, the robot-linked operation control unit 122 transmits an instruction to the robot 500 via the communication unit 102, through the elevator cloud 200 server 210 and the robot cloud 300 server 310, to board the elevator car 50 of the elevator unit that was called. As a result, the robot 500 boards the elevator car 50.

[0139] Next, the robot-linked operation control unit 122 registers a destination floor call for the robot, with the security floor as the destination floor, in the control panel 100 of the called unit (S305). Then, the process returns to the caller.

[0140] In the elevator control system 1 according to this embodiment, after canceling the destination floor call for the robot, the control panel 100, in cooperation with the control panels 100 of other elevators, registers a destination floor call in the control panel 100 if there is an elevator car 50 that does not have a robot 500 on board and there is a control panel 100 that does not have a destination floor call for the robot registered, with the floor where the doors are scheduled to open next as the destination floor. Then, when the elevator car 50 stops at the floor where the doors are scheduled to open next, the control panel 100 opens the doors, and when the elevator car 50 stops at the floor where the doors are scheduled to open and the doors open, it allows the robot 500 to disembark and registers the canceled destination floor call for the robot, which specified the security floor as the destination floor, in the control panel 100.

[0141] Therefore, according to this embodiment, even after canceling the destination floor call for the robot, if the robot 500 is not in the car of another elevator 2, and no destination floor call for the robot is registered in the control panel 100 of that other elevator 2, the robot 500 is moved to the control panel 100 of that other elevator 2, and then moved to the security floor in the car 50 of that elevator 2. Accordingly, according to this embodiment, security can be ensured, the doors can be opened at the security floor, and a decrease in the operational efficiency of elevator 2 can be prevented.

[0142] (modified version) In the above embodiment, instructions from the control panel 100 to the robot 500 and instructions from the robot 500 to the control panel 100 were given via the server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300, but the system is not limited to this. For example, it is possible to configure the system to send instructions directly from the control panel 100 to the robot 500 and from the robot 500 to the control panel 100.

[0143] The control programs executed by the control panel 100, servers 210, 310, and robot 500 according to the above embodiments and modified examples are provided pre-loaded into ROM or the like.

[0144] Each control program executed by the control panel 100, servers 210, 310, and robot 500 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).

[0145] Furthermore, the control programs executed by the control panel 100, servers 210, 310, and robot 500 according to the above embodiments and 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.

[0146] Furthermore, the control programs executed by the control panel 1, servers 210, 310, and robot 500 according to the above embodiment and its modifications may be provided or distributed via a network such as the Internet.

[0147] Each control program executed by the control panel 100, servers 210, 310, and robot 500 according to the above embodiment and modified examples has a modular configuration that includes each of the functional units described above. In actual hardware, the CPU reads the control program from the ROM and executes it, thereby loading each of the functional units into the main memory, and generating each of the functional units in the main memory.

[0148] 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]

[0149] 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, 12,12A,12B...Human presence sensor, 20,20A,20B...Hostel, 25...Landing, 50,50A,50B...Elevator car, 55...Control panel, 100,100A,100B...Control panel (Elevator control device), 120,211,311,501...Control unit, 102,212,312,502...Communication unit, 110,220,320, 510...Storage unit, 111...Management DB, 121...Normal operation control unit, 122...Robot-linked operation control unit, 123...Passenger determination unit, 124...Detection unit, 125...Door control unit, 150, 150A, 150B...Controller, 160...Control room, 161...Security system, 200...Elevator cloud, 210...Server, 300...Robot cloud, 310...Server, 415, 555...Card reader, 500...Robot, 503...Drive unit, 507...2D code reader, 508...Input unit, 509...Travel control unit.

Claims

1. An elevator control device is provided for each elevator having a movable elevator car installed within a building, and controls the elevator, A receiving unit capable of receiving a destination floor call for requesting the movement of the elevator car, which specifies the destination floor that is the destination of the elevator car, and a destination floor call for an autonomous mobile body, which specifies a security floor where entry for general users is restricted and entry is permitted only to specific persons, as the destination floor for an autonomous mobile body that can move autonomously. A control unit that, upon receiving a destination floor call for the autonomous mobile unit, registers the destination floor call for the autonomous mobile unit, places the autonomous mobile unit in the elevator car, and moves the elevator car to the security floor, When the elevator car carrying the autonomous mobile vehicle arrives at the security floor, a passenger determination unit determines whether the autonomous mobile vehicle and the user are both riding in the elevator car. A detection unit that detects input for security deactivation operations to disable security, When the autonomous mobile vehicle and the user are riding together in the aforementioned elevator car, the door control unit does not open the elevator car door, and when the detection unit detects input for the security release operation, it controls the door to be in an open state. An elevator control device equipped with [a specific feature].

2. If the control unit determines that the autonomous mobile vehicle and the user are riding together in the elevator car, and the detection unit does not detect input for the security release operation before a first threshold time has elapsed after the elevator car arrives at the security floor, the control unit cancels the destination floor call for the autonomous mobile vehicle. The elevator control device according to claim 1.

3. The control unit, without detecting the input of the security release operation before the first threshold elapses, cancels the destination floor call for the autonomous mobile unit, and if another destination floor call is registered, moves the elevator car to the destination floor specified by that other destination floor call; if no other destination floor call is registered, moves the elevator car to a predetermined base floor. The elevator control device according to claim 2.

4. When both a destination floor call for the autonomous mobile vehicle specifying the security floor as the destination floor and a destination floor call specifying a floor other than the security floor as the destination floor are registered, the control unit cancels the destination floor call for the autonomous mobile vehicle if it determines that the autonomous mobile vehicle and the user are both riding in the elevator car. The elevator control device according to claim 1.

5. If the passenger determination unit determines that neither the autonomous mobile vehicle nor the user is in the elevator car, and only the autonomous mobile vehicle is in the car, and if the state in which the destination floor call is not registered continues for a second threshold time, the control unit shall re-register the canceled destination floor call for the autonomous mobile vehicle, in which the security floor is designated as the destination floor, and move the elevator car to the security floor. The elevator control device according to claim 4.

6. After canceling the destination floor call for the autonomous mobile unit, the control unit, in cooperation with the elevator control device of another elevator, if there is a second elevator control device which is the elevator control device that has no elevator car with the autonomous mobile unit inside and has no destination floor call registered for the autonomous mobile unit, registers the destination floor call for the next time the floor to which the doors are scheduled to be opened as the destination floor in the second elevator control device. The elevator control device according to claim 5.

7. The door control unit further opens the door when the elevator car stops at a floor where the door is scheduled to be opened next time. The control unit further causes the autonomous mobile unit to disembark when the elevator car stops at a floor where the doors are scheduled to be opened and the doors are opened, and registers the canceled destination floor call for the autonomous mobile unit, in which the security floor is designated as the destination floor, with the second elevator control device. The elevator control device according to claim 6.

8. The detection unit detects the input of the security release operation from the control panel installed inside the elevator car. The elevator control device according to claim 1.

9. The detection unit detects input of the security release operation from equipment installed outside the elevator car, or input of the security release operation by operation on the autonomous mobile body. The elevator control device according to claim 1.

10. The passenger determination unit determines whether the autonomous mobile vehicle and the user are riding together in the elevator car based on a detection signal from a load sensor provided in the elevator car, or an image of the inside of the elevator car received from an imaging device that images the inside of the elevator car. The elevator control device according to claim 1.

11. An elevator control method, which is provided for each elevator having a movable elevator car installed within a building and is executed by an elevator control device that controls the elevator, The steps include: specifying the destination floor which is the destination of the elevator car and receiving a destination floor call to request the elevator car to move; When a destination floor call for an autonomous mobile vehicle is received, specifying a security floor where general public access is restricted and only specific individuals are allowed to enter, the destination floor call for the autonomous mobile vehicle is registered, the autonomous mobile vehicle is placed in the elevator car, and the elevator car is moved to the security floor. When the elevator car carrying the autonomous mobile vehicle arrives at the security floor, the step of determining whether the autonomous mobile vehicle and the user are both riding in the elevator car, A step to detect input for a security deactivation operation to remove security, When the autonomous mobile vehicle and the user are riding together in the aforementioned elevator car, the elevator car door is not opened, and when the input for the security release operation is detected, the control is performed to open the door. An elevator control method including [a specific feature / method].

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