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

Abstract

The system allows the control device and server to detect when a robot is inside the elevator car without requiring the installation of equipment such as routers or 2D barcode scanners, thereby preventing problems when autonomous mobile devices use elevators. [Solution] The control device includes a door control unit that closes the door after a certain period of time has elapsed since the transmission of the boarding preparation completion notification, even if it has not received a boarding completion notification from the autonomous mobile device, and turns off or reduces the illuminance of the first lighting device. When it receives a boarding completion notification from the autonomous mobile device, it includes a first determination unit that determines that the autonomous mobile device has boarded the car when the illuminance inside the car, detected by a first illuminance sensor inside the car, exceeds a first threshold.

Description

Technical Field

[0001] Embodiments of the present invention relate to an elevator control system, a control device, an autonomous mobile body, 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 driving such as moving to the destination floor (target floor) is performed.

[0003] In the prior art, when the communication environment inside the elevator car is not good, communication between the autonomous mobile body in the car and the control device that controls the elevator or the server for the autonomous mobile body becomes difficult, and it becomes difficult to receive a boarding completion notice from the autonomous mobile body to the control device or the server, or a notice of completion of preparation for alighting from the control device or the server to the autonomous mobile body.

[0004] To solve such problems, conventionally, a technique of installing a Wi-Fi (registered trademark) router inside the elevator car to change the communication path inside and outside the car, or a technique of installing a two-dimensional barcode on the upper surface of the threshold of the landing door, etc., and having the autonomous mobile body read the two-dimensional barcode and perform boarding and alighting at an appropriate timing on the autonomous mobile body side is known.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, with such conventional technologies, it is necessary to install routers, 2D barcode scanners, etc. separately, which makes installation and maintenance work complicated and incurs installation and maintenance costs. [Means for solving the problem]

[0007] The elevator control system of the embodiment is provided for each elevator having a movable elevator car installed in a building, and comprises a control device for controlling the elevator and an autonomous mobile body that can autonomously travel and board the elevator car, wherein the control device comprises a first communication unit that receives a movement request from the autonomous mobile body specifying the departure floor from which to board the elevator car and the destination floor which is the floor to be traveled to by the elevator car, a control unit that moves the elevator car to the departure floor specified in the movement request when the movement request is received, a door control unit that opens the doors of the elevator car when the elevator car arrives at the departure floor, and a first lighting control unit that controls the lighting of a first lighting device capable of illuminating the interior of the elevator car, wherein the first communication unit transmits a boarding readiness completion notification to the autonomous mobile body that made the movement request after the door opening, and the door control unit transmits a boarding completion notification from the autonomous mobile body after a certain period of time has elapsed since the transmission of the boarding readiness completion notification. Even if no notification has been received, the first lighting control unit will close the doors of the elevator car, and after a certain period of time has elapsed since the transmission of the boarding readiness notification, the first lighting unit will turn off or reduce the illuminance of the first lighting device, and the control unit will determine that the autonomous vehicle has boarded the elevator car when it has received the boarding completion notification from the autonomous vehicle, or when the illuminance inside the elevator car exceeds a first threshold, as detected by a first illuminance sensor installed inside the elevator car that detects illuminance. The autonomous mobile body further comprises a first determination unit which determines that, a second lighting device which can illuminate the surroundings, a travel control unit which boards the elevator car whose doors have been opened at the departure floor, a second communication unit which transmits the travel request to the control device before boarding the elevator car and transmits the boarding completion notification to the control device when boarding the elevator car is complete, and a second lighting control unit which turns on the second lighting device or increases its illumination when boarding the elevator car is complete. [Brief explanation of the drawing]

[0008] [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 a robot cloud according to an embodiment. [Figure 5] Figure 5 is a block diagram showing an example of the functional configuration of a robot according to an embodiment. [Figure 6] Figure 6 is a sequence diagram showing an example of the procedure for elevator control processing according to the embodiment. [Figure 7] Figure 7 is a sequence diagram showing an example of the procedure (continued) for elevator control processing according to the embodiment. [Modes for carrying out the invention]

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

[0010] (Embodiment) Figure 1 is a diagram showing an example of the overall configuration of an elevator control system 1 according to an 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 server 210 in the elevator cloud 200, a server 310 in the robot cloud 300, a monitoring center 400, and an elevator company 700.

[0011] In this embodiment, multiple elevators 2A and 2B are installed in building 3 (an example of a building), such as an apartment building. Although Figure 1 shows two elevators 2A and 2B, the configuration may also include only one elevator, or three or more elevators.

[0012] Elevators 2A and 2B each have elevator cars 50A and 50B within their respective hoistways 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 hoistways 20A and 20B, and move up and down via ropes.

[0013] In addition to passenger 5A, the elevator cars 50A and 50B can also accommodate autonomous mobile robots 500A, 500B, and 500C.

[0014] The elevator cars 50A and 50B are equipped with control panels 4A and 4B, cameras 7A and 7B, load sensors 8A and 8B, illuminance sensors 12A and 12B, and lighting devices 13A and 13B. The cameras 7A and 7B, illuminance sensors 12A and 12B, and lighting devices 13A and 13B are installed on the ceiling of the elevator cars 50A and 50B.

[0015] The control panels 4A and 4B receive various operations from users inside the elevator cars 50A and 50B, and also provide various notifications to the elevator car 50. The control panels 4A and 4B are connected to the control panels 100A and 100B by wire or wireless. The control panels 4A and 4B are equipped with multiple push buttons and multiple non-contact sensors (not shown). When users 5A and 5B press any of the push buttons or bring their fingers close to any of the non-contact sensors for detection, a destination floor call, with the floor corresponding to the push button or non-contact sensor as the destination floor, is transmitted from the control panels 4A and 4B to the control panels 100A and 100B.

[0016] Here, a destination floor call is a request (operation data) made by a user inside elevator car 50 to direct the elevator car 50 to the desired destination floor. The destination floor call specifies the destination floor to which the elevator car 50 is to travel.

[0017] 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 specifying 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 for moving the car 50 to the specified departure floor and causing it to head from the departure floor to the specified destination floor. Here, the departure floor is the floor where the user boards the car 50. The destination floor call for the robot is an example of a movement request. The destination floor call for the robot may also be referred to as a movement request.

[0018] Also, the operation panels 4A and 4B are provided with push buttons and non-contact sensors (both not shown) for opening or closing the doors of the cars 50A and 50B. When the users 5A and 5B press the push buttons or approach the non-contact sensors with their fingers for detection, the control panels 100A and 100B open or close the doors. Here, opening the door is referred to as door open, and closing the door is referred to as door close.

[0019] The lighting devices 13A and 13B inside the cars 50A and 50B are lit or increase the illuminance under the control of the control panels 100A and 100B to illuminate the inside of the cars 50A and 50B. The lighting devices 13A and 13B are an example of the first lighting device.

[0020] The illuminance sensors 12A and 12B inside the cars 50A and 50B detect the illuminance inside the cars 50A and 50B and transmit a detection signal to the control panels 100A and 100B. The illuminance sensors 12A and 12B are an example of the first illuminance sensor.

[0021] The cameras 7A and 7B inside the cars 50A and 50B capture 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 capture the landing and send the captured images to the control panels 100A and 100B.

[0022] 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.

[0023] In addition, motion sensors (not shown) may be installed inside the elevator cars 50A and 50B. In this case, the motion sensors can be installed on the ceiling of the elevator cars 50A and 50B and configured to detect the presence of users (people) inside the elevator cars 50A and 50B and send a detection signal to the control panels 100A and 100B.

[0024] 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. As shown in Figure 1, a camera 9 is installed at boarding area 25. The camera 9 is installed on the wall next to the door (not shown) that serves as the entrance and exit for the elevator car 50, and captures images of the boarding area 25, including users waiting there.

[0025] In addition, lighting devices (not shown) can be installed on the ceiling of landing 25 on each floor to illuminate landing 25. A control panel (not shown) is also provided at landing 25. Users can call for a landing from this control panel.

[0026] 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). Camera 9, lighting equipment, and control panel are connected to control panels 100A and 100B by wire or wireless connection.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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 referring to 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, the internal server at the monitoring center 400 can be accessed as needed to access building and elevator information, or to obtain information necessary for elevator management by maintenance personnel.

[0033] 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.

[0034] Elevator Company 700 is a company that provides elevator 2, and within Elevator Company 700, there is a server 710.

[0035] Server 710 stores the signal exchanges between Server 210 of the elevator cloud 200, Server 310 of the robot cloud 300, Server 210 of the elevator cloud 200 and Server 310 of the robot cloud 300, Server 210 of the elevator cloud 200 and the control panel 100, and Server 210 of the elevator cloud 200 and the security system 161 and monitoring center 400 of the control room 160 that manages Building 3. In other words, it behaves like a mirror server for Server 210 of the elevator cloud 200. Server 710 also has the function of storing error notifications between each of these devices.

[0036] 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 depending on the number of elevators 2A, 2B. In this case, 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. When the control panels 4A, 4B, cameras 7A, 7B, load sensors 8A, 8B, illuminance sensors 12A, 12B, and lighting devices 13A, 13B are not distinguished, they shall be referred to as control panel 4, camera 7, load sensor 8, illuminance sensor 12, and lighting device 13.

[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 a control panel 100 according to an embodiment. The control panel 100 is an example of a control device.

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

[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 camera 9 at the landing 25, the illuminance sensor 12 inside the elevator car 50, and the lighting device 13 inside the elevator car 50.

[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 requests from the server 210 of the elevator cloud 200 via the controller 150. The communication unit 102 also receives movement requests from the robot 500 via the server 310 of the robot cloud 300 and the server 210 of the elevator cloud 200, specifying the departure floor from which the robot will board the elevator car 50 and the destination floor to which it will travel in the elevator car 50 (i.e., destination floor requests for the robot).

[0044] Furthermore, after the door is opened, the communication unit 101 sends a boarding readiness notification to the robot 500 that requested the move, via the elevator cloud 200 server 210 and the robot cloud 300 server 310. When the door is opened, the communication unit 101 also sends a disembarking readiness notification to the robot 500 via the elevator cloud 200 server 210 and the robot cloud 300 server 310. The communication unit 101 may also be configured to send a disembarking readiness notification when the door is opened and the lighting device 13 is turned on. Communications Unit 101 is an example of the first communications unit.

[0045] The control unit 120 consists of a hardware processor (CPU). As shown in Figure 2, the control unit 120 mainly comprises a normal operation control unit 121, a robot-linked operation control unit 122, a lighting control unit 123, a decision unit 124, and a door control unit 125.

[0046] 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.

[0047] 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.

[0048] The robot-linked operation control unit 122 controls the robot-linked operation. The robot-linked operation control unit 122 is an example of a control unit. 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.

[0049] In this embodiment, when the communication unit 101 receives a movement request, the robot-linked operation control unit 122 moves the elevator car 50 to the departure floor specified in the movement request. Furthermore, when the determination unit 124, which will be described later, determines that the robot 500 has completed boarding the elevator car 50, the robot-linked operation control unit 122 moves the elevator car 50 to the destination floor specified in the movement request.

[0050] The determination unit 124 determines that the robot 500 has boarded the elevator car 50 when it receives a boarding completion notification from the robot 500, or when the illuminance inside the elevator car 50 exceeds a first threshold, as determined by the illuminance sensor 12. Here, "exceeding the first threshold" also includes cases where the illuminance is equal to or greater than the first threshold. The determination unit 124 is an example of a first determination unit.

[0051] The door control unit 125 controls the opening and closing of the doors of the elevator car 50. In this embodiment, the door control unit 125 opens the doors of the elevator car 50 when the elevator car 50 arrives at the departure floor. The door control unit 125 closes the doors of the elevator car 50 even if it has not received a boarding completion notification from the robot 500 after a certain period of time has elapsed since the transmission of the boarding preparation completion notification. The door control unit 125 closes the doors of the elevator car 50 when the determination unit 124 determines that the robot 500 has completed boarding the elevator car 50. The door control unit 125 opens the doors of the elevator car 50 when it arrives at the destination floor.

[0052] The lighting control unit 123 also controls the lighting of the lighting device 13 inside the elevator car 50. The lighting control unit 123 turns off or reduces the brightness of the lighting device 13 after a certain period of time has elapsed since the notification that boarding is ready has been sent. The lighting control unit 123 turns on or increases the brightness of the lighting device 13 when the elevator car 50 arrives at the departure floor. The lighting control unit 123 turns off or reduces the brightness of the lighting device 13 when the determination unit 124 determines that the robot 500 has completed boarding the elevator car 50. The lighting control unit 123 turns on or increases the brightness of the lighting device 13 when the elevator car 50 arrives at the destination floor. The lighting control unit 123 is an example of a first lighting control unit.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] In this embodiment, the communication unit 212 receives a destination floor call (movement request) for the robot from the server 310 of the robot cloud 300. The communication unit 212 also transmits the destination floor call, the destination floor call (movement request) for the robot, and the landing call including the destination floor, generated by the control unit 211 (described later), to the control panel 100.

[0057] The control unit 211 consists of a hardware processor (CPU).

[0058] 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 a robot cloud 300 according to an embodiment. As shown in Figure 4, the server 310 mainly comprises a control unit 311, a communication unit 312, and a storage unit 320, as is typical for a computer.

[0059] The memory unit 320 is a storage medium (memory device) such as ROM or RAM. Various programs are stored in the memory unit 320.

[0060] 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.

[0061] In this embodiment, the communication unit 312 receives a movement request (destination floor call) from the robot 500 along with the robot ID, and transmits the received movement request from the robot 500 to the server 210 of the elevator cloud 200.

[0062] The control unit 311 consists of a hardware processor (CPU). The control unit 311 controls various processes related to the robot 500.

[0063] Next, we will explain the details of Robot 500. Figure 5 is a block diagram showing an example of the functional configuration of a robot 500 according to an embodiment. As shown in Figure 5, the robot 500 mainly comprises a camera 506, an illuminance sensor 507, a lighting device 522, various sensors 505, a control unit 501, a lighting control unit 508, a judgment unit 511, a communication unit 502, a driving control unit 509, a drive unit 503, and a storage unit 510.

[0064] 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.

[0065] The illuminance sensor 507 detects the illuminance around the robot 500. The illuminance sensor 507 is an example of a second illuminance sensor. The lighting device 522 is a device that illuminates the area around the robot 500 by turning on its light. The lighting device 522 is an example of a second lighting device.

[0066] The various sensors 505 include, for example, motion sensors, acceleration sensors, and load sensors, but are not limited to these.

[0067] 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.

[0068] 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. This is an example of a second communication unit.

[0069] In this embodiment, before boarding the elevator car 50 (when about to board the elevator car 50), the communication unit 502 sends a destination floor call for the robot, i.e., a movement request, specifying the departure floor and destination floor, to the control panel 100 via the server 310 in the robot cloud 300 and the server 210 in the elevator cloud 200. Furthermore, when boarding the elevator car 50 is complete, the communication unit 502 sends a boarding completion notification indicating the completion of boarding to the control panel 100 via the server 310 in the robot cloud 300 and the server 210 in the elevator cloud 200.

[0070] 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.

[0071] The lighting control unit 508 controls the lighting of the lighting device 522. In this embodiment, the lighting control unit 508 turns on the lighting device 522 or increases its illuminance when the robot 500 has finished boarding the elevator car 50. The lighting control unit 508 is an example of a second lighting control unit.

[0072] The determination unit 511 determines that the elevator car 50 has started moving toward the destination floor when the illuminance detected by the illuminance sensor 507 falls below a second threshold. The determination unit 511 also determines that the elevator car has arrived at the destination floor when the communication unit 502 receives a notification from the control panel 100 via the elevator cloud 200 server or the robot cloud 300 server 310, or when the illuminance detected by the illuminance sensor 507 falls above a second threshold.

[0073] Here, when the illuminance becomes less than the second threshold, this includes cases where the illuminance is less than or equal to the second threshold. In this case, when the illuminance becomes greater than the second threshold, this does not include cases where the illuminance is equal to the second threshold.

[0074] Furthermore, when the illuminance exceeds the second threshold, this also includes cases where the illuminance is equal to or greater than the second threshold. In this case, when the illuminance falls below the second threshold, it means that it is less than the second threshold. The judgment unit 511 is an example of a second judgment unit.

[0075] 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, the travel control unit 509 controls the drive unit 503 to place the robot 500 into the elevator car 50, which has its doors opened at the departure floor.

[0076] Furthermore, when the determination unit 511 determines that the elevator car 50 has arrived at the destination floor, the driving control unit 503 controls the robot 500 to disembark from the elevator car 50.

[0077] 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.

[0078] Next, the elevator control process performed by the elevator control system 1 of this embodiment, configured as described above, will be explained. Figures 6 and 7 are sequence diagrams showing an example of the procedure for elevator control processing according to the embodiment. First, when the robot 500 starts using elevator 2, the communication unit 502 sends elevator usage registration to the server 310 of the robot cloud 300 (S11a). The elevator usage registration is then sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S11b), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 via the controller 150 (S11c).

[0079] Next, in the control panel 100, the communication unit 102 transmits permission to use the robot to the server 210 of the elevator cloud 200 via the controller 150 (S14a). This permission to use the robot is then transmitted from the server 210 of the elevator cloud 200 to the server 310 of the robot cloud 300 (S14b), and further transmitted from the server 310 of the robot cloud 300 to the robot 500 that submitted the elevator usage registration (S14c).

[0080] Next, when the robot 500 receives permission to use the robot, the communication unit 502 sends a request to move to another floor (i.e., a destination floor call for the robot) to the server 310 of the robot cloud 300 (S17a). This request to move to another floor is then sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S17b), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 via the controller 150 (S17c).

[0081] In the control panel 100, when the communication unit 102 receives a movement request, the robot-linked operation control unit 122 moves the elevator car 50 to the departure floor specified in the movement request, and when the elevator car 50 arrives at the departure floor, the door control unit 125 opens the doors (S21). Next, the communication unit 102 sends a boarding preparation completion notification to the elevator cloud 200 server 210 indicating that preparation for boarding the elevator car 50 is complete (S22a). This boarding preparation completion notification is sent from the elevator cloud 200 server 210 to the robot cloud 300 server 310 (S22b), and further sent from the robot cloud 300 server 310 to the robot 500 waiting at the landing 25 (S22c).

[0082] Upon receiving the boarding preparation completion notification, the robot 500 begins boarding the open elevator car 50 via the driving control unit 509 (S25). Once the robot 500 has completed boarding the elevator car 50 (S26), the communication unit 502 sends a boarding completion notification to the server 310 of the robot cloud 300 (S27).

[0083] Here, we assume that the communication environment inside the elevator car 50 is poor, causing an error and failure in the transmission of S27. Therefore, the control panel 100 cannot receive the boarding completion notification.

[0084] After the robot 500 sends a boarding completion notification, the decision unit 511 monitors the illumination inside the elevator car 50 (S28).

[0085] Meanwhile, the control panel 100 starts closing the doors after a certain period of time has elapsed since the notification that boarding is ready has been sent, even if a notification that boarding is complete has not been received (S29). Then, when all doors are closed (i.e., door closing is complete) (S30), the lighting control unit 123 in the control panel 100 turns off the lighting device 13 of the elevator car 50 (S32).

[0086] At this time, the robot 500's judgment unit 511 detects that the illuminance of the elevator car 50 has fallen below a second threshold and determines that the elevator car 50 should begin moving to the destination floor (S31).

[0087] Then, in the control panel 100, the judgment unit 124 monitors the illumination inside the elevator car 50 (S33).

[0088] In robot 500, the lighting control unit 508 turns on the lighting device 522 (S34). In the control panel 100, the determination unit 124 detects a change in illumination inside the elevator car 50 due to the illumination of the lighting device 522 by the robot 500 (S35). As a result, the determination unit 124 determines that the robot 500 has completed boarding the elevator car 50, even if it has not received a boarding completion notification (S36).

[0089] Next, the elevator car 50 moves to the destination floor and, upon arrival, the lighting control unit 123 in the control panel 100 turns on the lighting device 13 inside the elevator car 50 (S37). Then, the door control unit 125 opens the door (S42). Next, the communication unit 102 sends a disembarkation completion notification to the elevator cloud 200 server 210, indicating that disembarkation preparations are complete (S43s). The disembarkation completion notification is sent from the elevator cloud 200 server 210 to the robot cloud 300 server 310 (S43b), and then from the robot cloud 300 server 310 to the robot 500 (S43c). Here, let's assume that the communication environment inside the elevator car 50 is poor and the transmission in S43c fails due to an error. Therefore, the robot 500 cannot receive the disembarkation preparation completion notification.

[0090] However, in the robot 500, the judgment unit 511 detects a change in illuminance, that is, that the illuminance has become greater than the second threshold, when the lighting device 13 inside the elevator car 50 is turned on by the control panel 100 in S36 (S38). As a result, the judgment unit 511 of the robot 500 determines that the passenger is ready to disembark, even if it has not received a notification that the passenger is ready to disembark (S40).

[0091] Next, the robot 500 waits for a few seconds (S41). During this time, once the elevator car 50 opens, the robot 500 begins disembarking from the elevator car 50 via the driving control unit 509 (S45).

[0092] When the robot 500 has completed disembarking (S46), the communication unit 502 sends a disembarking completion notification to the server 310 of the robot cloud 300 (S47a). The disembarking completion notification is sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S47b), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 via the controller 150 (S47c).

[0093] In the control panel 100, when the communication unit 102 receives a notification that the passenger has disembarked, the door control unit 125 closes the doors of the elevator car 50 (S50).

[0094] In robot 500, after disembarking is complete, the communication unit 502 transmits a message to the server 310 of robot cloud 300 indicating that elevator use has been discontinued (S51a). This message is then transmitted from the server 310 of robot cloud 300 to the server 210 of elevator cloud 200 (S51b), and further transmitted from the server 210 of elevator cloud 200 to the control panel 100 via the controller 150 (S51c).

[0095] Upon receiving notification that the elevator use has been discontinued, the control panel 100's communication unit 102 transmits permission to discontinue robot use to the elevator cloud 200's server 210 via the controller 150 (S54a). The permission to discontinue robot use is transmitted from the elevator cloud 200's server 210 to the robot cloud 300's server 310 (S54b), and then from the robot cloud 300's server 310 to the robot 500 that transmitted the notification that the elevator use has been discontinued (S54c). With this, the series of elevator control processes is completed.

[0096] In the elevator control system 1 according to this embodiment, the control panel 100 receives a movement request (destination floor call for the robot) from the robot 500 specifying the departure floor from which to board the elevator car 50 and the destination floor to which the elevator car 50 will travel. The control panel 100 moves the elevator car 50 to the departure floor specified in the movement request. When the elevator car 50 arrives at the departure floor, the control panel 100 opens the doors of the elevator car 50. After opening the doors, it sends a boarding readiness notification to the robot 500 that made the movement request. After a certain period of time has elapsed since the sending of the boarding readiness notification, even if the control panel 100 has not received a boarding completion notification from the robot 500, it closes the doors of the elevator car 50. After a certain period of time has elapsed since the sending of the boarding readiness notification, it turns off the lighting device 13 or reduces its illumination. The control panel 100 determines that the robot 500 has boarded the elevator car 50 when it receives a boarding completion notification from the robot 500, or when the illumination inside the elevator car 50 exceeds a first threshold, as determined by the illumination sensor 12. Furthermore, the robot 500 boards the elevator car 50 when its doors are opened on the departure floor, sends a movement request to the control panel 100 before boarding the elevator car 50, sends a boarding completion notification to the control panel 100 when boarding the elevator car 50 is complete, and turns on the lighting device 13 or increases its illumination when boarding the elevator car 50 is complete.

[0097] Therefore, according to this embodiment, the elevator 2 detects the completion of boarding by multiple means, so even if a boarding completion notification cannot be received from the robot 500 inside the elevator car 50 where the communication environment is poor, the control panel 100 can determine that the robot has boarded the elevator car 50 and move the elevator car 50 of the elevator 2 to the destination floor. Accordingly, according to this embodiment, the control panel 100 and servers 210 and 310 can determine that the robot 500 has boarded the elevator car 50 without installing equipment such as routers or two-dimensional barcodes, and troubles when the robot 500 uses the elevator can be prevented.

[0098] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 closes the doors when it determines that the robot 500 has finished boarding the elevator car 50, turns off or reduces the illumination of the lighting device 13 when it determines that the robot 500 has finished boarding the elevator car 50, and moves the elevator car 50 to the destination floor specified in the movement request when it determines that the robot 500 has finished boarding the elevator car 50. The robot 500 determines that the elevator car 50 has started moving toward the destination floor when the illumination detected by the illumination sensor 507 falls below a second threshold.

[0099] Therefore, according to this embodiment, when the illuminance detected by the illuminance sensor 507 falls below a second threshold, the robot 500 determines that the elevator car 50 has started moving toward the destination floor. As a result, even if the communication environment inside the elevator car 50 is poor, the robot 500 can recognize the movement status of the elevator car 50 and prevent problems when the robot 500 uses the elevator.

[0100] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 opens the doors when the elevator car 50 arrives at the destination floor, turns on the lighting device 13 when the elevator car 50 arrives at the destination floor, and sends a disembarking preparation completion notification to the robot 500 when the doors are opened. When the robot 500 receives the disembarking preparation completion notification from the control panel 100, or when the illuminance detected by the illuminance sensor 507 becomes greater than a second threshold, it determines that the elevator car 50 has arrived at the destination floor, and disembarks from the elevator car 50.

[0101] Therefore, according to this embodiment, the robot 500 can detect by multiple means that the elevator car 50 has arrived at the destination floor and the doors have opened. This allows the robot 500 inside the elevator car 50, which may have a poor communication environment, to determine that it is ready to disembark (disembarkation instruction) from the control panel 100, and disembark at the destination floor. Consequently, according to this embodiment, it is possible to determine that the robot 500 inside the elevator car 50 is ready to disembark without installing equipment such as routers or two-dimensional barcodes, thereby preventing problems when the robot 500 uses the elevator.

[0102] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 communicates with the robot 500 via the server of the elevator cloud 200 and the server 310 of the robot cloud 300, and the robot 500 communicates with the control panel 100 via the server 310 of the robot cloud 300 and the server of the elevator cloud 200.

[0103] Therefore, according to this embodiment, communication between the control panel 100 and the robot 500 can be achieved while the server 210 manages the elevator 2 and the server 310 manages the robot 500.

[0104] (modified version) Various modifications are possible to the above embodiment. For example, the decision unit 124 can be configured to determine when the robot 500 has completed boarding by using the following: changes in the weight of the elevator car 50 as measured by a load sensor 8 (e.g., a load cell) installed on the elevator car 50; opening and closing of the door as measured by a door sensor (e.g., a multi-axis sensor) not shown; or the results of analyzing images captured by a camera 7 installed inside the elevator car 50.

[0105] Alternatively, the determination unit 124 may be configured to output sound from the robot 500's speaker when the robot 500 has completed boarding, and to detect this sound on the control panel 100 side to determine that boarding is complete.

[0106] The determination unit 511 may be configured to output audio from the speaker on the control panel 4 inside the elevator car 50 when the elevator car 50 arrives at the destination floor or when it is ready to disembark, and the robot 500 detects this audio to determine that it is ready to disembark.

[0107] The determination unit 511 may be configured so that the robot 500 detects the current position of the elevator car 50 from information that allows it to determine the position of the elevator car 59, such as an indicator on the elevator car 50, and thereby determines that the elevator 2 is ready for disembarking.

[0108] Furthermore, in the above embodiment, the control panel 100 and the robot 500 communicate with each other via the server of the elevator cloud 200 and the server 310 of the robot cloud 300, but this is not the only way to do so. For example, the control panel 100 and the robot 500 can be configured to communicate directly with each other without going through the server of the elevator cloud 200 and the server 310 of the robot cloud 300.

[0109] 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.

[0110] Each control program executed by the control panel 100, servers 210, 310, and robot 500 according to the above embodiments and 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).

[0111] 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.

[0112] Furthermore, the control programs executed by the control panel 100, servers 210, 310, and robot 500 according to the above embodiments and modified examples may be provided or distributed via a network such as the Internet.

[0113] 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.

[0114] 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]

[0115] 1…Elevator control system, 2,2A,2B…Elevator, 3…Building, 4,4A,4B…Control panel, 5A…User, 7,7A,7B,9,506…Camera, 8,8A,8B…Load sensor, 12,12A,12B,507…Illuminance sensor, 13,522…Lighting device, 20,20A,20B…Housing shaft, 25…Landing, 50,50A,50B…Elevator car, 100,100A,100B…Control panel (control device), 120,211,311,501…Control unit, 102,212,312,502…Communication Units 110, 220, 320, 510…Memory Unit, 111…Management DB, 121…Normal Operation Control Unit, 122…Robot Interlocking Operation Control Unit, 123, 508…Lighting Control Unit, 124, 511…Decision Unit, 125…Door Control Unit, 150, 150A, 150B…Controller, 160…Control Room, 200…Elevator Cloud, 210…Server (Elevator Server), 300…Robot Cloud, 310…Server (Autonomous Mobile Unit Server), 500…Robot (Autonomous Mobile Unit), 503…Drive Unit, 509…Travel Control Unit.

Claims

1. An elevator control system comprising: a control device provided for each elevator having a movable elevator car installed within a building, the control device for controlling the elevator, and an autonomous mobile body capable of autonomously traveling and boarding the elevator car, The control device is A first communication unit receives a travel request from the autonomous mobile device specifying the departure floor from which the passenger boards the elevator car and the destination floor, which is the floor to be traveled to by the elevator car. A control unit that, upon receiving the aforementioned movement request, moves the elevator car to the departure floor specified in the movement request, A door control unit that opens the doors of the elevator car when the elevator car arrives at the departure floor, The system comprises a first lighting control unit that controls the lighting of a first lighting device capable of illuminating the interior of the elevator car, After opening the door, the first communication unit transmits a boarding readiness notification to the autonomous mobile unit that made the movement request. The door control unit, even if it has not received a boarding completion notification from the autonomous mobile device after a certain period of time has elapsed since the transmission of the boarding preparation completion notification, will close the doors of the elevator car. The first lighting control unit further turns off or reduces the brightness of the first lighting device after a certain period of time has elapsed since the transmission of the boarding preparation completion notification. The control device is The system further includes a first determination unit that determines that the autonomous mobile unit has boarded the car when it receives a boarding completion notification from the autonomous mobile unit, or when a first illuminance sensor installed inside the car, which detects illuminance, determines that the illuminance inside the car exceeds a first threshold, The autonomous mobile body, A second lighting device capable of illuminating the surroundings, A travel control unit boards the elevator car whose doors have been opened at the departure floor, A second communication unit transmits the movement request to the control device before boarding the aforementioned elevator car, and transmits the boarding completion notification to the control device when boarding the elevator car is complete. A second lighting control unit, which turns on the second lighting device or increases its illuminance when boarding the aforementioned elevator car is completed, An elevator control system equipped with [this feature].

2. The door control unit, when the first determination unit determines that the autonomous mobile vehicle has completed boarding the elevator car, closes the door. The first lighting control unit, when the first determination unit determines that the autonomous mobile body has completed boarding the elevator car, will turn off or reduce the brightness of the first lighting device. If the first determination unit determines that the autonomous mobile vehicle has completed boarding the elevator car, the control unit moves the elevator car to the destination floor specified in the movement request. The autonomous mobile body, A second illuminance sensor detects ambient light levels, A second determination unit determines that when the illuminance detected by the second illuminance sensor falls below a second threshold, the elevator car has started moving toward the destination floor. The elevator control system according to claim 1 is further provided with the following features.

3. The door control unit opens the door when the elevator car arrives at the destination floor. The first lighting control unit turns on the first lighting device or increases its illuminance when the elevator car arrives at the destination floor. The first communication unit transmits a notification to the autonomous mobile unit indicating that the vehicle is ready to disembark when the door is opened. The second determination unit further determines that the elevator car has arrived at the destination floor when it receives a notification from the control device that the elevator car is ready to disembark, or when the illuminance detected by the second illuminance sensor exceeds the second threshold. The aforementioned travel control unit, when it determines that the elevator car has arrived at the destination floor, will instruct passengers to disembark from the elevator car. The elevator control system according to claim 2.

4. A server for elevators, which is connected to the control device via a network and controls all elevators in the building, The system further comprises an autonomous mobile unit server that is connected via a network to the elevator server and the autonomous mobile unit, and controls the autonomous mobile unit, The first communication unit communicates with the autonomous mobile unit via the elevator server and the autonomous mobile unit server. The second communication unit communicates with the control device, the autonomous mobile unit server, and the elevator server. The elevator control system according to claim 1 or 2.

5. A control device is provided for each elevator having a movable elevator car installed within a building, and controls the elevator, A communication unit receives a movement request from an autonomous mobile body capable of autonomously driving and boarding the elevator car, specifying the departure floor from which to board the elevator car and the destination floor, which is the floor to be traveled to in the elevator car. A control unit that, upon receiving the aforementioned movement request, moves the elevator car to the departure floor specified in the movement request, A door control unit that opens the doors of the elevator car when the elevator car arrives at the departure floor, The vehicle comprises a lighting control unit that controls the lighting of a lighting device capable of illuminating the interior of the elevator car, After opening the door, the communication unit sends a notification to the autonomous mobile unit that made the movement request that boarding is complete. The door control unit, even if it has not received a boarding completion notification from the autonomous mobile device after a certain period of time has elapsed since the transmission of the boarding preparation completion notification, will close the doors of the elevator car. The lighting control unit further turns off or reduces the brightness of the lighting device after a certain period of time has elapsed since the transmission of the boarding preparation completion notification. The control device is When the autonomous mobile device receives the boarding completion notification, or when an illuminance sensor installed inside the cart detects that the illuminance inside the cart exceeds a first threshold, the determination unit determines that the autonomous mobile device has boarded the cart. A control device that also includes additional features.

6. The door control unit, when the determination unit determines that the autonomous mobile vehicle has completed boarding the elevator car, closes the door. If the determination unit determines that the autonomous mobile vehicle has completed boarding the elevator car, the lighting control unit will turn off the lighting device or reduce its brightness. If the determination unit determines that the autonomous mobile vehicle has completed boarding the elevator car, the control unit moves the elevator car to the destination floor specified in the movement request. The control device according to claim 5.

7. The door control unit opens the door when the elevator car arrives at the destination floor. The lighting control unit turns on the lighting device or increases its illuminance when the elevator car arrives at the destination floor. The communication unit transmits a notification to the autonomous mobile unit indicating that it is ready to disembark when the door is opened. The control device according to claim 6.

8. An autonomous mobile body capable of autonomously traveling to and boarding an elevator car, which has a movable car installed inside a building, A lighting device capable of illuminating the surroundings, Before boarding the elevator car, a communication unit transmits a travel request to a control device, which is provided for each elevator and controls the elevator, specifying the departure floor from which to board the elevator car and the destination floor to which the elevator car will travel. The system includes a travel control unit that boards the elevator car whose doors have been opened at the departure floor, The communication unit further transmits a boarding completion notification to the control device when boarding the elevator car is complete. The autonomous mobile body, A lighting control unit that turns on the lighting device or increases its brightness when boarding the aforementioned elevator car is complete. An autonomous mobile vehicle equipped with even more features.

9. An illuminance sensor that detects ambient light, A determination unit determines that when the illuminance detected by the illuminance sensor falls below a second threshold, the elevator car has started moving toward the destination floor. The autonomous mobile body according to claim 8, further comprising:

10. The determination unit further determines that the elevator car has arrived at the destination floor when it receives a notification from the control device that the passenger is ready to disembark, or when the illuminance detected by the illuminance sensor exceeds the second threshold. The aforementioned travel control unit, when it determines that the elevator car has arrived at the destination floor, will instruct passengers to disembark from the elevator car. The autonomous mobile body according to claim 9.

11. An elevator control method performed by an elevator control system comprising: a control device provided for each elevator having a movable elevator car installed in a building, and the control device for controlling the elevator; and an autonomous mobile body that can travel autonomously and board the elevator car; The autonomous mobile unit transmits a travel request to the control device specifying the departure floor from which it will board the elevator car and the destination floor, which is the floor to which it will travel in the elevator car, before boarding the elevator car. The control device receives a movement request from the autonomous mobile unit specifying the departure floor from which the elevator car will be boarded and the destination floor, which is the floor to be traveled to by the elevator car. When the control device receives the movement request, the control device moves the elevator car to the departure floor specified in the movement request, When the elevator car arrives at the departure floor, the steps include opening the doors of the elevator car, The steps include controlling the lighting of a first lighting device capable of illuminating the interior of the elevator car, The control device, after opening the door, transmits a notification to the autonomous mobile unit that made the movement request that boarding is complete. The autonomous mobile unit boards the elevator car, which has its doors opened at the departure floor, The autonomous mobile device transmits a boarding completion notification to the control device when boarding the elevator car is complete. The steps include: turning on a second lighting device capable of illuminating the surroundings or increasing its brightness once boarding into the aforementioned elevator car is complete; The control device performs a door closing step, which closes the doors of the elevator car, even if it has not received a boarding completion notification from the autonomous mobile device after a certain period of time has elapsed since the transmission of the boarding preparation completion notification. The control device, after a certain period of time has elapsed since the transmission of the boarding preparation completion notification, turns off or reduces the brightness of the first lighting device. The control device determines that the autonomous mobile vehicle has boarded the vehicle when it receives a boarding completion notification from the autonomous mobile vehicle, or when a first illuminance sensor installed inside the vehicle, which detects illuminance, detects that the illuminance inside the vehicle exceeds a first threshold. An elevator control method including [a specific feature / method].

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