Elevator control system, autonomous mobile vehicle, server for autonomous mobile vehicle, and elevator control method

Abstract

The autonomous mobile system will identify a problem requiring action by its operations and resolve it promptly, even if it is difficult for it to resolve the problem itself. [Solution] In the elevator control system of the embodiment, the first autonomous mobile unit includes a control unit that detects a problem based on an image captured by an imaging unit, a first search unit that, when a problem is detected and cannot be solved by itself, queries an autonomous mobile unit server to find out whether a second autonomous mobile unit capable of solving the problem exists in the building, receives search results from the autonomous mobile unit server, and searches for the autonomous mobile unit capable of solving the problem in the building, and a first request unit that sends a movement instruction to the found autonomous mobile unit capable of solving the problem, instructing it to use the elevator to move to the location of the first autonomous mobile unit and solve the problem. The autonomous mobile unit server, upon receiving an inquiry from the first autonomous mobile unit, searches for the autonomous mobile unit capable of solving the problem in the building and transmits the search results to the first autonomous mobile unit.

Description

Technical Field

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

Background Art

[0002] In recent elevator control systems, for the purpose of having an autonomous mobile robot such as a robot ride in an elevator car and execute various operations, autonomous mobile robot operations such as moving to the destination floor (target floor) are performed. Various operations performed by such an autonomous mobile robot include various operations such as security, cleaning, and inspection.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, it is common to assign one operation to one autonomous mobile robot, such as an autonomous mobile robot for security, an autonomous mobile robot for cleaning, or an autonomous mobile robot for inspection. Therefore, even when a problem that requires measures due to an operation is discovered while the autonomous mobile robot is running, if it does not have equipment or functions for the purpose of the operation to handle the measures, the discovered problem cannot be solved, and there are cases where it has to be left unattended or cases where it takes time to solve.

Means for Solving the Problems

[0005] The elevator control system of the embodiment is provided for each elevator having a movable elevator car installed in a building, and comprises: an elevator control device for controlling the elevator; a first autonomous mobile body that moves autonomously using the elevator and performs a predetermined first task; a second autonomous mobile body that moves autonomously using the elevator and performs a second task different from the first task; an elevator server connected by a network to the elevator control device and controlling all the elevators in the building; and an autonomous mobile body server connected by a network to the elevator server and the first autonomous mobile body, wherein the first autonomous mobile body comprises an imaging unit and, based on the image captured by the imaging unit, a problem The system includes a control unit that discovers a problem, a first search unit that, when the problem is discovered and cannot be solved by itself, queries an autonomous mobile unit server to determine whether a second autonomous mobile unit capable of solving the problem exists within the building, and receives search results from the autonomous mobile unit server to search for the autonomous mobile unit capable of solving the problem within the building, and a first request unit that sends a movement instruction to the found autonomous mobile unit capable of solving the problem, instructing it to use the elevator to move to the location of the first autonomous mobile unit and solve the problem, wherein the autonomous mobile unit server, upon receiving the query from the first autonomous mobile unit, searches for the autonomous mobile unit capable of solving the problem within the building and transmits the search results to the first autonomous mobile unit. [Brief explanation of the drawing]

[0006] [Figure 1] Figure 1 shows an example of the overall configuration of an elevator control system according to an embodiment. [Figure 2] Figure 2 is a block diagram showing an example of the functional configuration of a control panel according to an embodiment. [Figure 3] Figure 3 is a block diagram showing an example of the functional configuration of a server in the elevator cloud according to the embodiment. [Figure 4] Figure 4 is a block diagram showing an example of the functional configuration of a server in the robot cloud according to the first embodiment. [Figure 5] Figure 5 shows an example of data in the robot management database according to the embodiment. [Figure 6] Figure 6 is a block diagram showing an example of the functional configuration of a robot according to the first embodiment. [Figure 7] Figure 7 is a sequence diagram showing an example of the overall flow of the elevator control process according to the embodiment. [Figure 8] Figure 8 is a flowchart showing an example of the procedure for the robot search and route generation process according to this embodiment. [Figure 9] Figure 9 is a flowchart showing an example of the procedure for elevator search processing according to this embodiment. [Modes for carrying out the invention]

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

[0008] (Embodiment) Figure 1 is a diagram showing an example of the overall configuration of the elevator control system 1 according to this embodiment. As shown in Figure 1, the elevator control system 1 of this embodiment mainly comprises control panels 100A and 100B provided for each of the multiple elevators 2A and 2B, controllers 150A and 150B provided for each of the multiple elevators 2A and 2B, a control room 160, a server 210 in the elevator cloud 200, a server 310 in the robot cloud 300, a monitoring center 400, and an elevator company 700.

[0009] In this embodiment, multiple elevators 2A and 2B are installed in building 3 (an example of a building), such as an apartment building. Although Figure 1 shows two elevators 2A and 2B, the configuration may include only one elevator, or three or more elevators.

[0010] Each of the elevators 2A and 2B is equipped with an elevator car 50A and 50B within its respective hoistway 20A and 20B. In addition, each hoistway 20A and 20B is equipped with a hoisting machine and counterweights (not shown). The elevator cars 50A and 50B and the counterweights are supported so as to be able to move up and down on a pair of guide rails (not shown) erected within the hoistway 20A and 20B, and move up and down via ropes.

[0011] In addition to passenger 5A, the elevator cars 50A and 50B can also accommodate autonomous mobile robots 500A, 500B, and 500C.

[0012] The elevator cars 50A and 50B are equipped with control panels 4A and 4B, cameras 7A and 7B, load sensors 8A and 8B, and human presence sensors 12A and 12B. Control panels 4A and 4B receive various operations from users inside elevator cars 50A and 50B, and also provide various notifications to elevator car 50. Control panels 4A and 4B are connected to control panels 100A and 100B by wire or wireless connection.

[0013] Control panels 4A and 4B receive various operations from passengers in elevator cars 50A and 50B, and also provide various notifications within elevator cars 50A and 50B.

[0014] The control panels 4A and 4B are equipped with operation buttons (not shown), an LCD display, a speaker, etc. The control panels 4A and 4B allow users to call the control panel 100 for their destination floor by pressing push buttons.

[0015] Here, a destination floor request is a request (operation data) made by a passenger inside elevator car 50 to direct elevator car 50 to the desired destination floor. The destination floor is specified in the destination floor request.

[0016] Also, in this embodiment, the destination floor call for the robot is transmitted from the server 210 of the elevator cloud 200 to the control panel 100 via the controller 150. The destination floor call for the robot is operation data for designating the robot ID of the robot 500 that desires to use the elevator 2, the departure floor, and the destination floor (also referred to as the target floor), and for moving the car 50 to the designated departure floor and making it go from the departure floor to the designated destination floor.

[0017] Note that, together with or instead of the push buttons, a contactless sensor may be provided on the control panels 4A and 4B.

[0018] The cameras 7A and 7B inside the cars 50A and 50B photograph the inside of the cars 50A and 50B and send the captured images to the control panels 100A and 100B. Also, when the doors of the cars 50A and 50B are open at the landing 25, the cameras 7A and 7B can image the landing and send the captured images to the control panels 100A and 100B.

[0019] The load sensors 8A and 8B are provided on the bottom surfaces of the cars 50A and 50B and detect the weight of the cars 50. When users 5A or robots 500A and 500B are riding in the cars 50A and 50B, the load sensors 8A and 8B detect, in addition to the weight of the cars 50 themselves, the weights of the riding users 5A and the robots 500A and 500B added thereto. The load sensors 8A and 8B send the detected weight as a detection signal to the control panels 100A and 100B.

[0020] The human presence sensors 12A and 12B are provided on the ceilings of the cars 50A and 50B, detect the presence of users (humans) inside the cars 50A and 50B, and send a detection signal to the control panels 100A and 100B.

[0021] The landings 25 are provided on each floor. The landings 25 are places where users and the robots 500 wait for the arrival of the cars 50A and 50B of the elevators 2A and 2B.

[0022] At each landing 25 on each floor, a camera 9 and a control panel 55 are installed on the wall where the hand door is located. The camera 9 captures images of the landing 25 and transmits the captured images to control panels 100A and 100B.

[0023] 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. The control panel 55 is equipped with operation buttons (not shown), an LCD display, a speaker, etc. The control panel 55 makes a landing call to the control panel 100 when a user presses a push button.

[0024] 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).

[0025] Alternatively, a non-contact sensor may be provided on the control panel 55 along with, or in place of, the push button.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] Control room 160 is where the building manager and other personnel from Building 3 are stationed. 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] Elevator Company 700 is a company that provides elevator 2, and within Elevator Company 700, there is a server 710.

[0034] 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.

[0035] Robots 500A, 500B, and 500C can move autonomously and board elevator car 50. When robots 500A, 500B, and 500C are not distinguished, they are referred to as robot 500. Robot 500 performs various tasks using elevator 2.

[0036] The robot 500 in this embodiment is intended for various tasks such as security, cleaning, and inspection. The robots 500 that perform tasks for each purpose are referred to as the security robot 500, the cleaning robot 500, the inspection robot 500, and so on. Details of the robot 500 will be described later.

[0037] Next, we will describe the details of the control panel 100. Figure 2 is a block diagram showing an example of the functional configuration of the control panel 100 according to the first embodiment. The control panel 100 is an example of an elevator control device.

[0038] The control panel 100 has a typical computer configuration and, as shown in Figure 2, mainly comprises a control unit 120, a communication unit 102, a door control unit 125, and a storage unit 110.

[0039] Furthermore, as shown in Figure 2, the control panel 100 is connected by wire or wireless to the load sensor 8, the camera 7 inside the elevator car 50, 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.

[0040] 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").

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Here, group control refers to the control 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.

[0047] 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.

[0048] The door control unit 125 controls the opening and closing of the doors of the elevator car 50. Here, opening the doors is referred to as "door opening," and closing the doors is referred to as "door closing."

[0049] Next, we will describe the details of server 210 within the elevator cloud 200. Figure 3 is a block diagram showing an example of the functional configuration of a server 210 within the elevator cloud 200 according to the embodiment. As shown in Figure 3, the server 210 mainly comprises a control unit 211, a communication unit 212, and a storage unit 220, as is typical for a computer.

[0050] 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.

[0051] 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.

[0052] In this embodiment, the communication unit 212 receives the destination floor and departure floor from the server 310 of the robot cloud 300. The communication unit 212 also transmits the destination floor call generated by the control unit 211 to the control panel 100.

[0053] The control unit 211 consists of a hardware processor (CPU). The control unit 211 generates a destination floor call specifying the destination floor and departure floor from the destination floor and departure floor received by the communication unit 212.

[0054] Next, we will describe the details of server 310 within robot cloud 300. Figure 4 is a block diagram showing an example of the functional configuration of a server 310 within the robot cloud 300 according to this embodiment. As shown in Figure 4, the server 310 mainly comprises a control unit 311, a communication unit 312, a search unit 313, and a storage unit 320, as is typical for a computer.

[0055] The memory unit 320 is a storage medium (memory device) such as ROM or RAM. Various programs are stored in the memory unit 320.

[0056] Furthermore, as shown in Figure 4, the storage unit 320 according to this embodiment stores a robot management database 321 (hereinafter referred to as "robot management DB321"). The robot management DB321 is a database that records and manages information about robot 500 currently located within building 3. The robot management DB321 is updated by the control unit 311 each time robot 500 moves.

[0057] Figure 5 shows an example of data from the robot management DB321 according to this embodiment. As shown in Figure 5, the robot management DB321 registers the robot ID for identifying robot 500, the purpose of robot 500, the floor robot 500 is currently on, the location robot 500 is currently in, and the access destination (URL) of robot 500. In the example in Figure 5, from the purpose, it can be seen that there are security robot 500, cleaning robot 500, and inspection robot 500 in building 3.

[0058] Returning to Figure 4, 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.

[0059] In this embodiment, the communication unit 312 receives a robot ID and a request to search for the target robot 500 for problem solving from the robot 500 that discovered the problem (i.e., the discovery robot 500). The communication unit 312 also transmits the search results obtained by the search unit 313 (described later) in response to the received request to the discovery robot 500.

[0060] The control unit 311 consists of a hardware processor (CPU). The control unit 311 controls various processes related to the robot 500.

[0061] When the communication unit 312 receives a search query, the search unit 313 refers to the robot management DB 321 and searches whether the target robot 500 specified in the query is registered in the robot management DB 321. If it is registered, the search unit 313 generates the matching target robot ID, floor, location, and access destination as search results.

[0062] Next, we will explain the details of Robot 500. Figure 6 is a block diagram showing an example of the functional configuration of the robot 500 according to the first embodiment. As shown in Figure 6, the robot 500 mainly comprises a camera 506, various sensors 505, a control unit 501, a communication unit 502, a first search unit 521, a second search unit 522, a path generation unit 523, a first request unit 524, a second request unit 525, a travel control unit 509, a drive unit 503, a business processing unit 508, and a storage unit 510.

[0063] 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.

[0064] The various sensors 505 include, for example, motion sensors, acceleration sensors, and load sensors, but are not limited to these.

[0065] 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.

[0066] 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.

[0067] In this embodiment, if the communication unit 502 is a robot 500 capable of solving the problem itself, it receives the route from its current location to the robot 500 that discovered the problem (details will be described later) and instructions to move to the location where the problem-finding robot 500 is located.

[0068] 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.

[0069] The control unit 501 in this embodiment can detect problems by analyzing the images captured by the camera 506. Here, a problem is an event that requires action, such as the presence of a suspicious person or a person with bad behavior, dirty items on the floor, or damaged items in the facility that need repair.

[0070] Furthermore, when the control unit 501 discovers a problem, it determines whether the robot 500 that discovered the problem can solve it itself. Specifically, the control unit 501 determines whether it can solve the problem based on its intended task, itself, and the equipment it is equipped with. For example, if the intended task of robot 500 is security (i.e., a security robot 500), and the problem is that it discovers something dirty on the floor, it cannot clean up the dirty item itself. Also, if the intended task of robot 500 is cleaning (i.e., a cleaning robot 500), and the problem is that it discovers a suspicious person, it cannot warn the suspicious person and remove them itself. In such cases, the control unit 501 determines that it cannot solve the problem itself.

[0071] The robot 500 that discovered the problem will be referred to as the discovery robot 500. The discovery robot 500 is an example of the first autonomous mobile unit.

[0072] The first search unit 521 searches whether a problem-solving robot 500 exists within building 3 if the control unit 501 has detected a problem and cannot solve it itself. Here, the problem-solving robot 500 is referred to as the problem-solving robot 500. The problem-solving robot 500 is an example of a problem-solving autonomous mobile unit, or a second autonomous mobile unit.

[0073] Specifically, the first search unit 521 sends a query to the server 310 of the robot cloud 300 via the communication unit 5022 to search for the resolution robot 500, and receives the search results from the server 310 of the robot cloud 300 to determine whether or not the resolution robot 500 is located within building 3.

[0074] Here, if the discovery robot 500 is a security robot 500 and the discovered problem is that there is something dirty on the floor, the first search unit 521, as the solution robot 500, queries for a search for a cleaning robot 500. Also, if the discovery robot 500 is a cleaning robot 500 and the discovered problem is the presence of a suspicious person, the first search unit 521, as the solution robot 500, queries for a search for a security robot 500.

[0075] The first request unit 524 transmits a movement instruction to the problem-solving robot 500, which was found by the first search unit 521, instructing it to use the elevator 2 to move to its own location (i.e., the discovery robot 500) and solve the problem. Specifically, the first request unit 524 transmits to the problem-solving robot 500 the movement instruction along with the path generated by the path generation unit 523, which will be described later.

[0076] Furthermore, if the first search unit fails to find a problem-solving robot 500 within building 3, or if the second search unit 522 (described later) finds no elevator 2 available for use by the problem-solving robot 500, the first request unit 524 will, via the communication unit 502, request the resolution of the problem to a person, such as the administrator or personnel in the control room 160. Specifically, the first request unit 524 will send a request for problem resolution to a PC or smartphone owned by the administrator or personnel.

[0077] If the first search unit 521 determines that a resolution robot 500 is located within building 3, the route generation unit 523 generates a route from the current location of the resolution robot 500 to the location of itself, the discovery robot 500. Specifically, the route generation unit 523 generates a route from the location of the resolution robot 500, which is included in the search results received from the server 310 of the robot cloud 300, to the landing 25 on that floor; from the floor where the resolution robot 500 is located to its own floor via elevator 2; and from the landing 25 on its own floor to its own location.

[0078] The second search unit 522 searches for an elevator 2 that the solution robot can use. Specifically, the second search unit 522 avoids crowded elevators 2 and identifies an available elevator 2.

[0079] The second request unit 524, when an elevator available to the resolution robot 500 is searched for and identified, specifies the floor where it is located as the destination floor and the floor where the resolution robot 500 is located as the departure floor, and sends the destination floor and departure floor to the server 210 of the elevator cloud 200 via the server 310 of the robot cloud 300, thereby calling the elevator car 50 of elevator 2.

[0080] The drive unit 503 is a motor or the like that drives the robot 500 to make it move. The travel control unit 509 controls the drive unit 503 to control the movement of the robot 500. In this embodiment, if the driving control unit 509 is the resolution robot 500, it controls the drive unit 503 and, when the communication unit 502 receives a movement instruction along with a route, it uses the elevator 2 to move to the location of the discovery robot 500 based on the route.

[0081] The business processing unit 508 performs business processes according to the purpose of the robot 500. In the case of a security robot 500, the business processing unit 508 performs warning processing and security within building 3. In the case of a cleaning robot 500, the business processing unit 508 performs cleaning processes. In the case of an inspection robot 500, the business processing unit 508 performs inspection work on facilities within building 3.

[0082] In this embodiment, the business processing unit 508, when it is the problem-solving robot 500, solves the problem by executing a task when it moves to the location where the discovery robot 500 is located. Here, the task for solving the problem is an example of a second task.

[0083] 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.

[0084] Next, the elevator control process performed by the elevator control system 1 of this embodiment, configured as described above, will be explained. Figure 7 is a sequence diagram showing an example of the overall flow of the elevator control process according to the embodiment.

[0085] In robot 500, the control unit 501 is assumed to have discovered a problem while it was moving (S11). This robot 500 becomes the discovery robot 500.

[0086] Next, the discovery robot 500 performs the solution robot search and route generation process (S12). Here, we will explain the robot search and route generation process for resolving the issue. Figure 8 is a flowchart showing an example of the procedure for the robot search and route generation process according to this embodiment.

[0087] First, the control unit 501 determines whether it can solve the problem discovered by its discovery robot 500 (S102). If it can solve the problem discovered by the discovery robot 500 (S102: Yes), the business processing unit 508 solves the problem by executing its own business (S104). Then the process ends.

[0088] On the other hand, if the discovery robot 500 is unable to solve the problem it discovered in S102 (S102: No), the first search unit 521 queries the server 310 of the robot cloud 300 for the presence of a problem-solving robot 500 within building 3 and receives the result (S103).

[0089] Specifically, as shown in Figure 7, the first search unit 521 sends a query to the server 310 of the robot cloud 300 to search for a resolution robot 500 within building 3 (S13). When the communication unit 312 of the server 310 of the robot cloud 300 receives the query, the search unit 313 of the server 310 refers to the robot management DB 321 to search for the resolution robot 500 (S14). The communication unit 312 then sends the search results to the discovery robot 500 that made the query (S15).

[0090] Returning to Figure 8, the first search unit 521 then determines from the search results received from the server of the robot cloud 300 whether or not a problem-solving robot 500 capable of solving the problem exists within Building 3 (S106). If no problem-solving robot 500 capable of solving the problem exists within Building 3 (S106: No), the process ends. In this case, the first request unit 524 will request the administrator or other person in the control room 160 to solve the problem.

[0091] On the other hand, if a problem-solving robot 500 capable of solving the problem exists within building 3 (S106: Yes), the first search unit 521 initiates communication with the access destination of the problem-solving robot 500 included in the search results via the communication unit 502 (S107). The first search unit 521 then determines whether or not it succeeded in communicating with the problem-solving robot 500 (S108).

[0092] If communication with the problem-solving robot 500 is unsuccessful (S108: No), the first search unit 521 queries the server 310 of the robot cloud 300 to determine whether there are any other problem-solving robots 500 in building 3 besides the one that could not be communicated (S109). If there are no other problem-solving robots 500 in building 3 besides the one that could not be communicated (S109: No), the first request unit 524 determines that problem-solving by robot 500 is impossible and requests the administrator or other person in the control room 160 to resolve the problem (S111). Then the process ends.

[0093] On the other hand, if, in S109, there is another robot 500 that can resolve the issue besides the robot 500 that could not communicate (S109: Yes), the first search unit 521 changes the robot 500 to be communicated to that existing robot 500 (S110). Then, the process proceeds to S107.

[0094] If communication with the resolution robot 500 is successful in S108 (S108: Yes), the route generation unit 523 obtains the location (including the floor) of the resolution robot 500 from the search results (S113). Then, the route generation unit 523 generates a route from the resolution robot 500 to the discovery robot 500 (S114). Then, the process returns to the caller.

[0095] Returning to Figure 7, the first request unit 525 of the discovery robot 500 then transmits the path generated by the path generation unit 523 and the movement instructions to the searched solution robot 500 (S16).

[0096] When the problem-solving robot 500 receives a movement instruction and a route, it begins to move according to the route. First, it moves along the route from its current location to elevator 2 on the floor where the problem-solving robot 500 is located, and waits at landing 25.

[0097] Next, the discovery robot 500 performs the process of searching for an available elevator 2 using the second search unit 522 (S17). Now, let's explain the elevator search process. Figure 9 is a flowchart showing an example of the procedure for elevator search processing according to this embodiment.

[0098] The second search unit 522 refers to the route and determines whether or not it is necessary to use elevator 2 on the route (S116). Specifically, the second search unit 522 determines whether or not it is necessary to use elevator 2 based on whether or not the floor on which the discovery robot 500 is located and the floor on which the resolution robot 500 is located are different. If the floor on which the discovery robot 500 is located and the floor on which the resolution robot 500 is located are the same, and it is not necessary to use elevator 2 on the route (S116: No), the process returns to the caller and proceeds to S31.

[0099] On the other hand, if the floor where the discovery robot 500 is located and the floor where the resolution robot 500 is located are different, and it is necessary to use elevator 2 on the route (S116: Yes), the second search unit 522 determines whether or not there is an elevator 2 that the resolution robot 500 can board (S117).

[0100] If there is no elevator 2 available for the problem-solving robot 500 to board (S117: No), the second search unit 522 instructs the problem-solving robot 500 to wait until an elevator 2 becomes available, and the problem-solving robot 500 waits at the landing 25 until an elevator 2 becomes available (S118).

[0101] Next, the second search unit 522 determines whether a certain amount of time has elapsed since it began waiting (S119). If a certain amount of time has not elapsed (S119: No), the process returns to S117, and the process from S117 is repeated.

[0102] On the other hand, if a certain amount of time has elapsed (S119: Yes), the second search unit 522 cancels the command for the problem-solving robot 500 to go to the location of the discovery robot (S120). The first request unit 524 then determines that it is impossible for the robot 500 to solve the problem and requests the administrator or other person in the control room 160 to solve the problem (S111). The process then ends.

[0103] In S117, if there is an elevator 2 that the problem-solving robot 500 can ride (S117: Yes), the second request unit 525 sends the destination floor and the departure floor, with the floor where the discovery robot 500 is located as the destination floor and the floor where the problem-solving robot 500 is located as the departure floor, to the server 310 of the robot cloud 300 (S123, S18). Then, the process returns to the caller.

[0104] Returning to Figure 7, in the server 310 of the robot cloud 300, when the communication unit 312 receives the destination floor and departure floor, it transmits the received destination floor and departure floor to the server 210 of the elevator cloud 200 (S19).

[0105] In the elevator cloud 200 server 210, when the communication unit 212 receives the destination floor and departure floor, the control unit 211 generates a destination floor call (S20). Then, the communication unit 212 transmits the generated destination floor call to the control panel 100 (S21).

[0106] In the control panel 100, when the communication unit 102 receives a destination floor call via the controller 150, the robot-linked operation control unit 122 performs group control in cooperation with the control panels 100 of other elevators 2 to allocate the elevator car 50 (S22). Next, the robot-linked operation control unit 122 moves the elevator car 50 to the departure floor specified by the destination floor, that is, the floor where the resolution robot 500 is located (S23).

[0107] When elevator car 50 arrives at the departure floor, the door control unit 125 of the control panel 100 opens the door (S24). This allows the problem-solving robot 500, which was waiting at the landing 25 on the departure floor, to board elevator car 50 (S25). Once the problem-solving robot 500 has boarded elevator car 50, the door control unit 125 of the control panel 100 closes the door (S26).

[0108] Next, the robot-linked operation control unit 122 of the control panel 100 moves the elevator car 50, on which the problem-solving robot 500 is riding, to the destination floor specified by the destination floor call, that is, the floor where the discovery robot 500 is located (S27).

[0109] When elevator car 50 arrives at the destination floor, the door control unit 125 of the control panel 100 opens the door (S28). This allows the problem-solving robot 500 inside elevator car 50 to disembark (S29). Once the problem-solving robot 500 has disembarked from elevator car 50, the door control unit 125 of the control panel 100 closes the door (S30).

[0110] Having disembarked from elevator car 50, the problem-solving robot 500 moves along the route from elevator landing 25 to the location of the discovery robot 500 (S31). Once the problem-solving robot 500g arrives at the location of the discovery robot 500, the business processing unit 508 solves the problem by executing the task for problem-solving (S32).

[0111] In the elevator control system 1 according to this embodiment, the detection robot 500 detects a problem based on the image captured by the camera 506. If a problem is detected and the robot cannot solve it itself, it queries the server 310 of the robot cloud 300 to find out whether there is a problem-solving robot 500 capable of solving the problem in the building 3. Upon receiving the search results from the server 310, the robot searches for a problem-solving robot 500 in the building 3 and sends a movement instruction to the found problem-solving robot 500 to move to the location of the detection robot 500 using the elevator 2 and solve the problem. When the server 310 of the robot cloud 300 receives an inquiry from the detection robot 500, it searches for a problem-solving robot 500 in the building 3 and sends the search results to the detection robot 500.

[0112] Therefore, according to this embodiment, even if the robot 500 discovers a problem requiring action during its operation and finds it difficult to solve the problem itself, it can control the elevator 2 in cooperation with another robot 500 (solution robot 500) present in the building 3 that is capable of solving the problem. This allows the solution robot 500 to move to its own location (discovery robot 500) as quickly as possible, thereby enabling the problem to be solved early.

[0113] Furthermore, in the elevator control system 1 according to this embodiment, if a resolution robot 500 is present in the building 3, the discovery robot 500 generates a route from the resolution robot 500's current location to the location of the discovery robot 500, searches for an elevator 2 available to the resolution robot 500, and if an elevator 2 available to the resolution robot 500 is found, it specifies the floor where the discovery robot 500 is located as the destination floor and the floor where the resolution robot 500 is located as the departure floor, and transmits the destination floor and departure floor to the server 210 of the elevator cloud 200 via the server 310 of the robot cloud 300, thereby calling the elevator car 50 of the elevator 2 and transmitting the generated route along with a movement instruction to the resolution robot 500. When the server 210 of the elevator cloud 200 receives the destination floor and departure floor, it generates a destination floor call that requests the elevator car 50 to move to the specified destination floor and departure floor, and transmits the generated destination floor call to the control panel 100. When the control panel 100 receives a destination floor call, it assigns an elevator car 50 based on the destination floor call. When the problem-solving robot 500 receives a movement instruction along with a route, it uses the elevator 2 to move to the location of the discovery robot 500 based on the route, and solves the problem when it reaches the location of the discovery robot 500.

[0114] Therefore, according to this embodiment, even if the robot 500 discovers a problem requiring action during its movement and finds it difficult to solve the problem itself, it will cooperate with another robot 500 (solution robot 500) present in the building 3 that is capable of solving the problem, generate a route, generate a call to the destination floor of the elevator 2, and control the elevator car 50 of the elevator 2. Accordingly, according to this embodiment, the elevator 2 can be controlled more efficiently, and the solution robot 500 can move to its own location (discovery robot 500) as quickly as possible, enabling the problem to be solved more quickly.

[0115] Furthermore, in the elevator control system 1 according to this embodiment, if a problem-solving robot 500 is not found within the building 3, or if there is no elevator 2 available for use by the problem-solving robot 500, the detection robot 500 requests a person such as the administrator in the control room 160 to resolve the problem.

[0116] Therefore, in this embodiment, if the problem-solving robot 500 is not present in building 3, or if there is no elevator 2 available for use by the problem-solving robot 500, the problem-solving request is made to a human instead of the problem-solving robot 500, thus avoiding delays in problem resolution.

[0117] (modified version) In the above embodiment, the search for the resolution robot 500 within Building 3 was performed using the server 310 of the robot cloud 300, but this is not the only option. For example, a database such as the robot management DB 321 may be stored within the robot 500, and the search for the resolution robot 500 within Building 3 may be performed by the discovery robot 500.

[0118] In the above embodiment, the destination floor call was generated by the server 210 of the elevator cloud 200, but this is not the only configuration. For example, the destination floor call may be generated by the detection robot 500 and transmitted to the control panel 100.

[0119] Furthermore, in the above embodiment, the detection robot 500 directly issued instructions to or communicated with the resolution robot 500, but this is not the only way to do so. For example, the detection robot 500 may be configured to send instructions to or communicate with the resolution robot 500 via the server 310 of the robot cloud 300.

[0120] 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.

[0121] 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.

[0122] 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).

[0123] 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.

[0124] Furthermore, the control programs 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 or distributed via a network such as the Internet.

[0125] 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.

[0126] 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]

[0127] 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, 1 11...Management DB, 121...Normal operation control unit, 122...Robot interlocking operation control unit, 123...125...Door control unit, 150,150A,150B...Controller, 160...Control room, 200...Elevator cloud, 210...Server, 300...Robot cloud, 310...Server, 313...Search unit, 321...Robot management DB, 500...Robot, 503...Drive unit, 508...Business processing unit, 509...Travel control unit, 521...First search unit, 522...Second search unit, 523...Route generation unit, 524...First request unit, 525...Second request unit.

Claims

1. An elevator control system comprising: an elevator control device provided for each elevator having a movable elevator car installed in a building, which controls the elevator; a first autonomous mobile unit that moves autonomously using the elevator and performs a predetermined first task; a second autonomous mobile unit that moves autonomously using the elevator and performs a second task different from the first task; an elevator server connected by a network to the elevator control device and controlling all of the elevators in the building; and an autonomous mobile unit server connected by a network to the elevator server and the first autonomous mobile unit, wherein The first autonomous mobile unit described above is Imaging unit, A control unit that detects a problem based on the captured image captured by the imaging unit, If the aforementioned problem is discovered and cannot be resolved by itself, the first search unit queries the autonomous mobile unit server to determine whether a second autonomous mobile unit capable of resolving the problem exists within the building, and receives search results from the autonomous mobile unit server to search for the autonomous mobile unit capable of resolving the problem within the building. The system includes a first request unit that transmits a movement instruction to the searched autonomous mobile unit for solving the problem, instructing it to move to the location of the first autonomous mobile unit using the elevator and solve the problem. The aforementioned server for autonomous mobile vehicles is When the first autonomous mobile unit receives the inquiry, it searches for the autonomous mobile unit for resolution within the building and transmits the search results to the first autonomous mobile unit. Elevator control system.

2. The first autonomous mobile unit described above is If the autonomous mobile unit for solving the problem is located within the building, a path generation unit generates a path from the current location of the autonomous mobile unit for solving the problem to the location of the first autonomous mobile unit. A second search unit searches for the elevator that the autonomous mobile unit for solving the problem can use, The system further comprises a second request unit that, when an elevator available to the autonomous mobile unit for problem solving is found, specifies the floor where the first autonomous mobile unit is located as the destination floor, specifies the floor where the autonomous mobile unit for problem solving is located as the departure floor, and transmits the destination floor and the departure floor to the elevator server via the autonomous mobile unit server to call the elevator car, The first request unit transmits the generated route along with the movement instruction to the autonomous mobile unit for resolution. The elevator server is When the destination floor and departure floor are received, a destination floor call is generated to request the elevator car to move, specifying the destination floor and departure floor, and the generated destination floor call is transmitted to a control panel provided for each elevator within the building that controls the elevator. The aforementioned control panel is When the destination floor call is received, the elevator car is assigned based on the destination floor call. The aforementioned autonomous mobile solution is A communication unit that receives the movement instruction along with the aforementioned route, When the aforementioned route and the aforementioned movement instruction are received, the driving control unit moves to the location of the first autonomous mobile body using the elevator based on the aforementioned route, A business processing unit that solves the problem by performing the second task when it moves to the location where the first autonomous mobile unit is located, The elevator control system according to claim 1, comprising:

3. The first request unit requests a person to solve the problem if the first search unit does not find the autonomous mobile solution unit within the building, or if the second search unit finds no elevator available for use by the autonomous mobile solution unit. The elevator control system according to claim 2.

4. An autonomous mobile unit that moves autonomously using an elevator having a movable car within a building and performs predetermined tasks, Imaging unit, A control unit capable of detecting problems based on the captured image captured by the aforementioned imaging unit, If the aforementioned problem is discovered and cannot be resolved by itself, a first search unit searches for another autonomous mobile unit capable of resolving the problem within the building, A first request unit transmits a movement instruction to the searched autonomous mobile unit for solving the problem, instructing it to use the elevator to move to the location of the autonomous mobile unit and solve the problem. An autonomous mobile vehicle equipped with the following features.

5. If the autonomous mobile device for solving the problem is located within the building, a path generation unit generates a path from the current location of the autonomous mobile device for solving the problem to the location of the autonomous mobile device. A second search unit searches for the elevator that the autonomous mobile unit for solving the problem can use, When the autonomous mobile unit for solving the problem finds an elevator that is available, a second request unit calls the elevator car, Furthermore, The first request unit transmits the generated route to the autonomous mobile unit for resolution, along with the movement instruction. The autonomous mobile body according to claim 4.

6. The first search unit searches for the autonomous mobile solution within the building by querying a server for autonomous mobile solutions, which is connected to the autonomous mobile solution via a network, controls the autonomous mobile solution, and searches for the autonomous mobile solution within the building, and by receiving search results from the autonomous mobile solution server. The autonomous mobile body according to claim 4.

7. The second request unit, when it finds an elevator available for use by the autonomous mobile unit for problem solving, specifies the floor where the autonomous mobile unit is located as the destination floor, specifies the floor where the autonomous mobile unit is located as the departure floor, and transmits the destination floor and the departure floor to the elevator server, which controls the elevators within the building and requests the movement of the elevator car by specifying the destination floor and the departure floor, via the autonomous mobile unit server that controls the autonomous mobile unit. The autonomous mobile body according to claim 5.

8. The first request unit requests a person to solve the problem if the first search unit does not find the autonomous mobile solution unit within the building, or if the second search unit finds no elevator available for use by the autonomous mobile solution unit. The autonomous mobile body according to claim 5.

9. Method; Proposal CL1 + elevator use only, this CL1 + 3 A problem-solving method performed in an elevator control system comprising: an elevator control device provided for each elevator having a movable elevator car installed in a building, which controls the elevator; a first autonomous mobile unit that moves autonomously using the elevator and performs a predetermined first task; a second autonomous mobile unit that moves autonomously using the elevator and performs a second task different from the first task; an elevator server connected by a network to the elevator control device and controlling all of the elevators in the building; and an autonomous mobile unit server connected by a network to the elevator server and the first autonomous mobile unit, wherein The first autonomous mobile body, based on the image captured by the imaging unit, discovers a problem. If the first autonomous mobile unit discovers the problem and is unable to solve it itself, it queries the autonomous mobile unit server to determine whether a second autonomous mobile unit capable of solving the problem, which is a problem-solving autonomous mobile unit, exists within the building, and receives search results from the autonomous mobile unit server to search for the problem-solving autonomous mobile unit within the building. The first autonomous mobile unit transmits a movement instruction to the searched autonomous mobile unit for solving the problem, instructing it to move to the location of the first autonomous mobile unit using the elevator and solve the problem. When the server for the autonomous mobile unit receives the query from the first autonomous mobile unit, it searches for the autonomous mobile unit for resolution within the building and transmits the search results to the first autonomous mobile unit. An elevator control method including [a specific feature / method].

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