Elevator control system and group control system

Abstract

The present invention provides an elevator control device that can reduce the load on the building's power supply equipment by suppressing regenerative power during times when electricity usage within the building is low. [Solution] An elevator control device according to one embodiment is communicatively connected to a robot control device that controls the operation of multiple robots in a building, and comprises a power regeneration device, a storage means, a power consumption acquisition means, a regenerative power control means, and a notification means. The storage means stores weight information indicating the weight of each robot. The power consumption acquisition means acquires the amount of power used in the building. If the acquired amount of power consumption is less than a certain value, the regenerative power control means calculates a load amount to suppress the amount of regenerative power to an amount appropriate for the acquired amount of power consumption, and selects a robot from among the robots that is appropriate for the load amount based on the weight information. The notification means notifies the robot control device of a command to put the selected robot into the elevator car.

Description

Technical Field

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

Background Art

[0002] Generally, in an elevator, a car and a counterweight are suspended at both ends of a rope wound around the rotating shaft of a hoisting machine (motor), and the car moves up and down in a pendulum manner in the opposite direction to the counterweight via the rope by the rotation of the hoisting machine. In addition, drive control of the hoisting machine and the like is performed by an elevator control device installed in a machine room or the like of a building where the elevator is installed.

[0003] Here, for example, when the load of a car moving downward in a hoistway (the weight of the car and the users riding in the car) is heavier than the counterweight, the above-described hoisting machine functions as a generator and electric power is generated. Similarly, electric power is generated when the load of a car moving upward in the hoistway is lighter than the counterweight. The electric power generated by the hoisting machine functioning as a generator in this way is called regenerative power, and the operation of the elevator in which such regenerative power is generated is called regenerative operation. By using the regenerative power generated by such regenerative operation, the amount of electric power used during normal operation can be reduced.

[0004] However, in time periods such as at night when the amount of electric power used (power consumption) in a building is small, if the amount of regenerative power generated by regenerative operation is large, the regenerative power returning to the power supply equipment places a burden on the power supply equipment of the building and may cause a failure of the power supply equipment.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

[0006] Therefore, the problem that the present invention aims to solve is to provide an elevator control device and a group control device that can suppress regenerative power and reduce the burden on the building's power supply equipment when the amount of electricity used in the building is small. [Means for solving the problem]

[0007] An elevator control device according to one embodiment is communicatively connected to a robot control device that controls the operation of a plurality of autonomous robots arranged in a building, and comprises a power regeneration device, a storage means, a power consumption acquisition means, a regenerative power control means, and a notification means. The storage means stores weight information indicating the weight of each of the robots. The power consumption acquisition means acquires the amount of power consumed by the equipment in the building. If the acquired amount of power consumed is less than a certain value determined based on the maximum amount of regenerative power generated by the operation of the elevator, the regenerative power control means calculates a load amount to suppress the current amount of regenerative power to an amount suitable for the acquired amount of power consumed, and selects at least one robot from among the robots that is suitable for the load amount based on the weight information. The notification means notifies the robot control device of a command to put the selected robot into the elevator car. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a block diagram showing the configuration of an elevator system including a group control device according to one embodiment. [Figure 2] Figure 2 shows an example of the robot configuration in the same embodiment. [Figure 3] Figure 3 shows an example of a robot table in the same embodiment. [Figure 4]Figure 4 is a flowchart showing an example of a process for suppressing regenerative power in the same embodiment. [Figure 5] Figure 5 illustrates an example of a process in which a robot is placed in a ride-on car to suppress regenerative power consumption during periods when the total power consumption of the building is low, such as at night, in the same embodiment. [Figure 6] Figure 6 illustrates an example of the process of disembarking a robot from a ride-on car in order to suppress the amount of regenerative power used in the same embodiment, when it is necessary to make the ride-on car respond to a call from below. [Figure 7] Figure 7 illustrates an example of a process in this embodiment to suppress regenerative power consumption during times when the building's electricity consumption exceeds a certain value, such as during the daytime, by having robots that have previously been riding in the elevator car disembark. [Modes for carrying out the invention]

[0009] The embodiments will be described below with reference to the drawings. It should be noted that the disclosure is merely an example, and the invention is not limited by the contents described in the embodiments below. Modifications that a person skilled in the art can easily conceive are naturally included within the scope of the disclosure. In order to make the explanation clearer, the size, shape, etc. of each part may be schematically represented in the drawings with modifications from the actual embodiments. In some cases, the same reference numerals are used for corresponding elements in multiple drawings, and detailed explanations are omitted.

[0010] Figure 1 is a block diagram showing the configuration of an elevator system including a group control device according to one embodiment, and shows a configuration in which the group control device and an autonomous robot are connected to communicate via a robot control device.

[0011] The commercial power supply 1 is electrically connected to the elevator control devices 2a-2c, the drive devices 3a-3c, and the group control device 10.

[0012] The elevator control device 2a, also known as a control panel, controls the operation of the elevator car 6a via the drive unit 3a according to commands from the group control device 10. The elevator control devices 2b and 2c function similarly, so their explanation is omitted here. In the following description, unless otherwise specified, elevator control devices 2a, 2b, and 2c will be referred to as elevator control device 2. Elevator control device 2 consists of a computer equipped with a CPU, ROM, RAM, etc.

[0013] The drive unit 3a supplies the power necessary to drive the hoisting machine 4a according to the drive instructions of the elevator control device 2a. The drive unit 3a is equipped with a power regeneration device 31a that regenerates the power generated during the regenerative operation of the elevator back into the commercial power supply 1.

[0014] The hoisting machine 4a consists of a synchronous motor and rotates due to power supplied from the drive unit 3a. A rope 5a is wound around the hoisting machine 4a via a sheave (not shown), and a car 6a is connected to one end of the rope 5a, with a counterweight 7a connected to the other end. As the hoisting machine 4a rotates, the car 6a and the counterweight 7a move up and down in a bucket-like manner via the rope 5a. Hoisting machines 4b and 4c have the same configuration as hoisting machine 4a, so their explanation is omitted here. Hereafter, unless otherwise specified, hoisting machines 4a to 4c will be referred to as hoisting machine 4. Similarly, unless otherwise specified, counterweights 7a to 7c will be referred to as counterweight 7.

[0015] Under the control of the elevator control device 2a, the elevator car 6a moves up and down within the hoistway by the drive of the hoisting machine 4a, thereby moving users and robots to each floor. A load sensor 61a is provided at the bottom of the elevator car 6a, and information indicating the load of the elevator car 6a detected by the load sensor 61a is transmitted to the elevator control device 2a. Since elevator cars 6b and 6c have a similar configuration, below, unless otherwise distinguished, elevator cars 6a to 6c will be referred to as elevator car 6. Similarly, below, unless otherwise distinguished, load sensors 61a to 61c will be referred to as load sensor 61.

[0016] The group management control device 10 is electrically connected to the commercial power supply 1 and controls the operation of each car 6a to 6c in a group management manner via the elevator control devices 2a to 2c. The group management control device 10 is constituted by a computer including a CPU, a ROM, a RAM, etc., and includes a storage unit 11, a power consumption acquisition unit 12, a regenerative power control unit 13, a communication unit 14, an allocation control unit 15, and a car load acquisition unit 16.

[0017] The storage unit 11 stores a landing call registered by operating a landing call button (not shown) installed at each floor landing, and a car call registered by operating a car call button (not shown) installed in the car 6. Further, the storage unit 11 stores a destination call including the departure floor and the destination floor of the robot 22 registered via the robot control device 21, and a robot table T1. In the robot table T1, identification information, position information indicating the current position, and information indicating the weight of each robot 22 are stored in association with each other. Note that, for a plurality of robots, the operations of each robot may be collectively shown.

[0018] The power consumption acquisition unit 12 acquires the amount of power consumed by the facilities in the building from the commercial power supply 1. The power consumption acquisition unit 12 acquires, for example, the amount of power consumed by the entire building in which the elevator is installed.

[0019] The regenerative power control unit 13 controls the amount of regenerative power generated during the regenerative operation of the car 6. Specifically, when the current power consumption of the entire building acquired by the power consumption acquisition unit 12 is less than a certain value, the regenerative power control unit 13 calculates the load amount for suppressing the current regenerative power amount to a regenerative power amount suitable for the power consumption. The above-mentioned certain value is a value determined based on the maximum value of the regenerative power amount generated by the regenerative operation of the car 6. The regenerative power control unit 13 selects at least one robot suitable for the load amount from among the robots 22 based on the calculated load amount and the weight information of each robot 22 stored in the robot table T1 of the storage unit 11. The regenerative power control unit 13 controls the robot control device 21 to make the selected robot 22 board the car, thereby suppressing the generated regenerative power amount.

[0020] Note that when there is no need to suppress the regenerative power amount, the regenerative power control unit 13 controls the generated regenerative power amount by getting the robot on the car 6 to get off the car 6.

[0021] The communication unit 14 communicates with the robot control device 21 via the network 20. For example, when a robot is selected by the regenerative power control unit 13, the communication unit 14 transmits a command for making the selected robot board the car 6 to the robot control device 21.

[0022] When the call is stored in the storage unit 11, the assignment control unit 15 determines the assigned car for assigning the call from among the cars 6 and makes the assigned car respond to the departure floor of the call.

[0023] The car load acquisition unit 16 acquires information indicating the loaded load of the car 6 from the load sensor 61 of the car 6 via the elevator control device 2. The car load acquisition unit 16 transmits the acquired information indicating the loaded load of the car 6 to the regenerative power control unit 13.

[0024] The robot control device 21 is connected to the group control device 10 via the network 20 in a communicative manner and controls the operation of the robot 22. When the robot 22 gets on or off the elevator car 6, the robot control device 21 transmits destination call information, including the departure floor (boarding floor) and destination floor (disembarking floor), to the group control device 10. When the robot control device 21 receives a command from the group control device 10 to have the selected robot 22 board the elevator car 6, it controls the selected robot 22 to board the elevator car 6.

[0025] Robots 22A to 22E are autonomous mobile robots that perform tasks such as package delivery, security, and cleaning, and can move between floors of a building using a vehicle 6.Hereafter, unless otherwise specified, robots 22A to 22E will be referred to as robot 22.Robot 22 acts according to instructions from the robot control device 21.

[0026] Figure 2 is a block diagram showing the functional configuration of robot 22. The robot 22 is equipped with a control unit 221, a sensor 222, a communication device 223, an operation unit 224, a display unit 225, a memory unit 226, a drive unit 227, and the like.

[0027] The control unit 221 consists of a CPU and, upon activation of a predetermined program, controls the robot to move autonomously within a predetermined area, including each floor of the building, in conjunction with the elevator system. The sensors 222 include, for example, a laser range finder, an ultrasonic range sensor, a dual camera, and LIDAR (Laser Imaging Detection and Ranging). The robot 22 moves while avoiding obstacles using these sensors 222, detects available space in the elevator car 6, and boards it.

[0028] The communication device 223 communicates wirelessly with the robot control device 21. The operation unit 224 is where various data input operations are performed, such as entering a destination. The display unit 225 displays various data. The storage unit 226 stores the program as well as map information including the robot's movement path. The drive unit 227 includes motors for driving the wheels installed on the bottom of the robot 22.

[0029] Figure 3 shows an example of a robot table T1 stored in the memory unit 11. The robot table T1 stores associated identification information for each robot 22 located within the building, location information indicating the current position of each robot 22, and weight information indicating the weight of each robot 22.

[0030] The first row of robot table T1 shows the association between robot identification information: RA, location information: 1F, and weight information: 133kg. This indicates that robot 22, which has identification information RA and a weight of 133kg, is currently on 1F. Similarly, the second row of robot table T1 shows the association between robot identification information: RB, location information: 2F, and weight information: 95kg. This indicates that robot 22, which has identification information RB and a weight of 95kg, is currently on 2F. Rows 3 through 5 of robot table T1 can be explained similarly, so a detailed explanation is omitted here.

[0031] Furthermore, if a destination call is registered to move robot 22, which has the identification information RA, to the 4th floor, the group control device 10 controls the elevator car 6 to move robot 22 to the 4th floor, and then updates the position information of robot 22 with the identification information RA to 4th floor in the robot table T1.

[0032] Here, we will explain regenerative operation and motorized operation. Regenerative operation is an operation that does not require power, such as moving the elevator car 6 downwards when the load of the elevator car 6 (the weight of the elevator car 6 and the passengers riding in the elevator car 6) is heavier than the counterweight 7, or moving the elevator car 6 upwards when the load of the elevator car 6 is lighter than the counterweight 7. When regenerative operation is performed, the hoisting machine 4 functions as a generator and generates electricity. On the other hand, motorized operation is an operation that requires power, such as moving the elevator car 6 upwards when the load of the elevator car 6 is heavier than the counterweight 7, or moving the elevator car 6 downwards when the load of the elevator car 6 is lighter than the counterweight 7.

[0033] The electricity generated by regenerative operation (hereinafter referred to as regenerative power) is returned to the commercial power supply 1 via the power regeneration device 31 of the drive unit 3 (regenerated). During the daytime and other times when the total amount of electricity used by the building is high, the amount of electricity consumed can be reduced by utilizing regenerated power. However, during the nighttime and other times when the total amount of electricity used by the building is low, the electricity regenerated to the commercial power supply 1 is likely to cause sudden voltage changes in the commercial power supply 1. If a sudden voltage change occurs in the commercial power supply 1, for example, it can result in an overvoltage condition, which puts a strain on the equipment that makes up the commercial power supply 1 and can cause equipment failure in the commercial power supply 1.

[0034] Therefore, in the group control device 10 according to this embodiment, when the amount of power used in the building is small, the amount of regenerated power is suppressed, making it possible to reduce the burden on the building's power supply equipment.

[0035] Next, we will explain how this system works. Figure 4 is a flowchart illustrating the operation of this system. The processes shown in this flowchart are primarily executed by the group control device 10.

[0036] The power usage acquisition unit 12 of the group control device 10 acquires the current power usage of the entire building (step S1). The process of step S1 is executed at regular intervals or whenever predetermined conditions are met.

[0037] The regenerative power control unit 13 acquires the maximum value of regenerative power generated during regenerative operation of the elevator (step S2). The maximum value of regenerative power is, for example, the amount of regenerative power when the elevator car 6 is empty and is operated upward from the lobby floor to the top floor, and is a value predetermined based on the weight of the elevator car 6 and the weight of the counterweight 7.

[0038] The regenerative power control unit 13 determines whether the total power consumption of the building obtained in step S1 is less than a certain value determined by the maximum amount of regenerated power (step S3). The certain value is set so that when the maximum amount of regenerated power is regenerated to the commercial power supply 1, a sudden voltage change does not occur in the commercial power supply 1. If the amount of power consumption is less than the certain value, regenerating the power to the commercial power supply 1 will cause a sudden voltage change in the commercial power supply 1, resulting in an overvoltage condition and putting a strain on the equipment that makes up the commercial power supply 1. If the total power consumption of the building is greater than or equal to the certain value, even if the power is regenerated to the commercial power supply 1, a sudden voltage change will not occur in the commercial power supply 1, and the commercial power supply 1 will not be burdened.

[0039] If the total power consumption of the building is below a certain value, that is, if regenerated power may burden commercial power supply 1 (Yes in step S3), the regenerative power control unit 13 calculates a power reduction amount to make the amount of regenerated power appropriate for the current power consumption (step S4). The amount of regenerated power appropriate for the current power consumption is the amount of power that, even if power is regenerated to commercial power supply 1, will not cause a sudden voltage change and will not burden commercial power supply 1 (i.e., the amount of power that commercial power supply 1 can withstand).

[0040] The regenerative power control unit 13 calculates the required load for the elevator car 6 (hereinafter also referred to as the load corresponding to the elevator car 6) based on the power reduction amount calculated in step S4 (step S5). During upward regenerative operation of the elevator car 6, the smaller the load of the elevator car 6, the larger the weight difference between the elevator car 6 and the counterweight 7, and the larger the amount of regenerative power generated. In other words, by placing the robot 22 on the elevator car 6 and increasing the load of the elevator car 6, the amount of regenerative power generated during upward regenerative operation of the elevator car 6 can be suppressed.

[0041] The regenerative power control unit 13 selects a robot suitable for the load capacity based on the load capacity corresponding to the elevator car 6 calculated in step S5 and the weight information stored in the robot table T1 (step S6). At this time, the regenerative power control unit 13 selects a robot 22 such that its weight is at least equal to or greater than the corresponding load capacity. This is because if the load capacity is insufficient, the amount of regenerative power cannot be sufficiently suppressed, and the generated power may be regenerated to the commercial power supply 1, potentially burdening the commercial power supply 1.

[0042] The regenerative power control unit 13 notifies the robot control device 21 of a command to have the robot 22 selected in step S6 board the corresponding elevator car 6 (step S7). Upon receiving the command from the group management control device 10, the robot control device 21 controls the selected robot 22 to board the elevator car 6. If it is necessary to move the elevator car 6 to accommodate the selected robot 22, the allocation control unit 15 moves the elevator car 6 to the floor where the robot 22 will be boarding via the elevator control device 2. Once the robot 22 is in the elevator car 6, it remains in the car 6 unless it is instructed to disembark by the robot control device 21. At this time, the position information of the selected robot 22 on the robot table T1 is updated to the elevator car 6 number in which the selected robot 22 is boarding.

[0043] After the robot 22 boards the elevator car 6 as a result of the processing in step S7, if a downward call is assigned to the elevator car 6 (Yes in step S8), the elevator car load acquisition unit 16 acquires the load of the elevator car 6 in order to calculate the amount of regenerative power generated by the downward operation of the elevator car 6 (step S9). The load of the elevator car 6 includes the weight of the elevator car 6 and the weight of the passenger who boarded the elevator car 6 as a result of the elevator car 6 responding to the above-mentioned call.

[0044] The regenerative power control unit 13 calculates the amount of regenerative power generated when the elevator car 6 moves downward, based on the load of the elevator car 6 obtained in step S9 (step S10). If the obtained load of the elevator car 6 is lighter than the counterweight 7, that is, if it is a power operation in which no regenerative power is generated, the amount of regenerative power generated is calculated as 0.

[0045] The regenerative power control unit 13 determines whether the amount of regenerated power calculated in step S10 is less than an allowable value (step S11). The allowable value is set so that no sudden voltage changes occur in the commercial power supply 1 when regenerated power is recovered to the commercial power supply 1, and is determined by the current amount of power consumption of the entire building.

[0046] If the calculated amount of regenerated power is less than the allowable value (Yes in step S11), the group control device 10 terminates the process here because even if the power generated by regenerating the elevator car 6 is regenerated to the commercial power supply 1, no sudden voltage changes will occur in the commercial power supply 1, and it will not put a burden on the commercial power supply 1.

[0047] On the other hand, if the calculated amount of regenerated power exceeds the allowable value (No. in step S11), if the power generated by regenerating the elevator car 6 is regenerated to the commercial power supply 1, a sudden voltage change may occur in the commercial power supply 1, potentially putting a strain on the commercial power supply 1. Therefore, the group control device 10 executes the process in step S14, which will be described later.

[0048] Returning to step S8, if a downward call is not assigned to the elevator car 6 carrying the robot 22 (No. in step S8), that is, if an upward call is assigned to the elevator car 6, the amount of regenerative power can be suppressed, and therefore the group control device 10 terminates the processing at this point.

[0049] Furthermore, returning to step S3, if the total power consumption of the building is above a certain value (No in step S3), the regenerative power control unit 13 determines whether the elevator car 6 is responding to a call (step S12). If the elevator car 6 is responding to a call (Yes in step S12), the group control device 10 terminates the process shown in the flowchart.

[0050] If the elevator car 6 is not responding to a call (No. in step S12), the regenerative power control unit 13 refers to the position information of the robot table T1 to determine whether a previously selected robot 22 is currently on the elevator car 6 (step S13). If the regenerative power control unit 13 finds that there is a robot 22 whose position information on the robot table T1 corresponds to the elevator car 6's unit number, it determines that a previously selected robot 22 is currently on the elevator car 6.

[0051] If the selected robot 22 is currently riding in the elevator car 6 (Yes in step S13), the regenerative power control unit 13 notifies the robot control device 21 of a command to disembark the previously selected robot 22 from the elevator car 6 (step S14). When the previously selected robot 22 disembarks from the elevator car 6, the position information of the robot 22 on the robot table T1 is updated to the floor on which it disembarked. Once the process in step S14 is executed, the group management control device 10 terminates the process shown in the flowchart.

[0052] On the other hand, if the selected robot 22 is not currently in the elevator car 6 (No. in step S13), the group control device 10 terminates the process shown in the flowchart.

[0053] In step S9 described above, the load of the elevator car 6 is obtained by a load sensor 61 as an example, but it may be obtained by other methods. For example, if a camera capable of taking pictures inside the elevator car 6 and at the boarding area is provided, the load may be obtained by analyzing the captured images to estimate the weight of the passengers riding in the elevator car 6 based on the number of adults and children obtained, and the average weight of the adults and children. In this case, since the load of the elevator car 6 can be obtained before the passengers have finished boarding the elevator car 6, the amount of regenerative power generated can be calculated immediately, and it is possible to decide whether or not to have the robot 22 disembark before the elevator car 6 closes its doors and moves.

[0054] Figure 5 illustrates an example of a process that involves placing a robot 22 in the elevator car 6 to suppress regenerative power consumption during periods when the overall power consumption of the building is low, such as at night. In the example shown in Figure 5, robot 22A, with the identification information RA, is located on the 1st floor; robot 22B, with the identification information RB, is located on the 2nd floor; robot 22C, with the identification information RC, is located on the 3rd floor; robot 22D, with the identification information RD, is located on the 5th floor; and robot 22E, with the identification information RE, is located on the 6th floor. Because it is nighttime, the total power consumption of the building is less than that of daytime hours and is below a certain value determined based on the maximum value of regenerative power.

[0055] Since the total power consumption of the building is below a certain value, the regenerative power control unit 13 calculates a power reduction amount to adjust the regenerative power amount to match the current power consumption. Based on the calculated power reduction amount, the load capacity corresponding to each of the elevator cars 6a to 6c is calculated. Based on the calculated load capacity corresponding to each elevator car 6a to 6c and the weight information of the robot table T1, a robot 22 suitable for the load capacity corresponding to each elevator car 6a to 6c is selected.

[0056] For example, if the load capacity corresponding to elevator car 6a is 130 kg, robot 22A is selected. If the load capacity corresponding to elevator car 6b ​​is 150 kg, robots 22B and 22C are selected. If the load capacity corresponding to elevator car 6c is 160 kg, robots 22B and 22C are selected.

[0057] Once a robot suitable for the load capacity corresponding to each elevator car 6a to 6c has been selected, the group control device 10 places the selected robot 22 into at least one elevator car 6. In the example shown in Figure 5, the group control device 10 places robot 22A into elevator car 6a of robot A. At this time, the position information of robot 22A on the robot table T1 is updated to that of robot A.

[0058] The group control device 10 can reduce the amount of regenerative power generated during regenerative operation and lessen the burden on the commercial power supply 1 due to regenerative power by assigning upward calls to the elevator car 6a of unit A, in which robot 22A is riding.

[0059] Furthermore, the group control device 10 may respond to a call for the elevator car 6 to move downwards with an elevator car 6 that does not have a robot 22 on board and is lighter than the counterweight 7. In this case, the elevator car 6 will be operated in a powered operation mode, so no regenerative power will be generated, and the commercial power supply 1 will not be burdened.

[0060] Figure 6 illustrates an example of a process in which, although a robot 22 is placed in the elevator car 6 to suppress the amount of regenerative power, the elevator car 6 needs to respond to a downward call, and the robot 22 is removed from the elevator car 6. In the example in Figure 6, robot 22A and multiple users are riding in the elevator car 6a of unit A, and it is assumed that the load on elevator car 6a of unit A is heavier than the counterweight 7a. Robots 22B to 22E, elevator car 6b ​​of unit B, and elevator car 6c of unit C are located on the same floor as in Figure 5. Similar to Figure 5, it is nighttime, and the total power consumption of the building is below a certain value determined based on the maximum amount of regenerated power.

[0061] Here, let's assume that the group control device 10 assigns a downward call to elevator car 6a of elevator A. When elevator car 6a of elevator A, which is heavier than the counterweight 7a, moves downward, the operation of elevator car 6a of elevator A becomes regenerative. For this reason, the group control device 10 acquires the load of elevator car 6a of elevator A, and calculates the amount of regenerative power generated by the regenerative operation of elevator car 6a of elevator A based on the acquired load of elevator car 6a of elevator A. If the amount of regenerative power generated by elevator car 6a of elevator A is greater than or equal to the allowable value, the group control device 10 has robot 22A disembark from elevator car 6a of elevator A.

[0062] Thus, when the robot 22 is placed in the elevator car 6, the amount of regenerative power increases, and if the regenerative power generated in the elevator car 6 puts a burden on the commercial power supply 1, the amount of regenerative power generated during regenerative operation is suppressed by having the robot 22 disembark.

[0063] The group control device 10 may stop the elevator car 6 at the next floor and allow the robot 22 to disembark. Depending on the amount of regenerative power generated, the group control device 10 may also allow the robot 22 to disembark at the floor where the next passenger disembarks. In this case, a decrease in operational efficiency can be prevented.

[0064] Figure 7 illustrates an example of a process to reduce regenerative power consumption during times when the building's electricity consumption exceeds a certain value, such as during the daytime, by having the robot 22 that was previously riding in the elevator car 6 disembark. In the example in Figure 7, robot 22A, which was previously placed in elevator car 6a to suppress regenerative power consumption, is waiting inside elevator car 6a of unit A, and robots 22B to 22E are located on the same floor as in Figure 5. None of the elevator cars 6a to 6c have been assigned a call, and elevator car 6a of unit A is waiting on the 1st floor, elevator car 6b ​​of unit B is waiting on the 3rd floor, and elevator car 6c of unit C is waiting on the 4th floor. The total power consumption of the building is greater than the power consumption during nighttime hours and is above a certain value determined based on the maximum amount of regenerative power.

[0065] Since the total power consumption of the building is above a certain value, regenerating power to commercial power supply 1 does not cause a sudden voltage change. In other words, there is no need to suppress the amount of regenerated power by having robot 22 ride in elevator car 6, so robot 22 that was previously riding in elevator car 6 is made to disembark in order to suppress the amount of regenerated power. In the example in Figure 7, the group control device 10 makes robot 22A, which is riding in elevator car 6a of unit A, disembark.

[0066] Thus, if there is no problem in regenerating the power to commercial power source 1, the robot 22 that was previously on board the elevator car 6 is made to disembark in order to suppress the amount of regenerated power.

[0067] Conventionally, a method has been proposed to suppress the amount of regenerative power by changing the direction of operation of the elevator car 6 while it is running. However, in this embodiment, the amount of regenerative power is suppressed by having the robot 22 board the elevator car 6 or by having the robot 22 disembark from the elevator car 6. Therefore, the amount of regenerative power can be suppressed without changing the direction of operation of the elevator car 6 while it is running.

[0068] In this embodiment, the group control device 10 had various functions, but the elevator control device 2 may also have various functions. Even if the elevator control device 2 controls the operation of a single elevator car, if the battery that stores regenerative power fails, regenerative power may not be stored, and the power may be regenerated to the commercial power supply 1, which may put a burden on the commercial power supply 1. Therefore, the elevator control device 2 can reduce the burden on the commercial power supply 1 by having the robot 22 ride in the elevator car 6 to suppress the amount of regenerative power.

[0069] In addition, in this embodiment, the group control device 10 would send a command to the robot control device 21 to have the robot 22 board or disembark from the elevator car. However, if direct communication with the robot 22 is possible, the group control device 10 may send a command to the robot 22 to have it board or disembark.

[0070] In this embodiment, the various functions of the group control device 10 may also be provided by an external device attached to the group control device 10 that is capable of communicating with the group control device 10.

[0071] In this embodiment, nighttime was given as one example of the situation, but other examples include the following situations.

[0072] During off-peak hours such as nighttime when there are fewer passengers, security operation is performed, resulting in only one passenger in the elevator car 6, and it is expected that the amount of regenerative power generated during regenerative operation will be large. According to this embodiment, by assigning the elevator car 6, which the robot 22 has already boarded, to calls registered during security operation, the amount of regenerative power generated during regenerative operation can be suppressed.

[0073] In addition, the communication unit 14 communicates with a mobile terminal capable of registering user calls, such as a smartphone, and a dedicated call may be registered from the mobile terminal. When a user boards using a dedicated call, there is often only one user, and it is expected that the amount of regenerative power will be large. According to this embodiment, even when a dedicated call is registered by a mobile terminal, the amount of regenerative power generated during regenerative driving can be suppressed by assigning a pre-occupied elevator car 6 to the dedicated call using the robot 22.

[0074] According to at least one embodiment described above, it is possible to provide an elevator control device and a group control device that can suppress regenerative power and reduce the burden on the building's power supply equipment when the amount of electricity used in the building is low.

[0075] 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 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 and their equivalents. [Explanation of symbols]

[0076] 1...Commercial power supply, 2a~2c...Elevator control device, 3a~3c...Drive device, 4a~4c...Hoisting machine, 5a~5c...Rope, 6a~6c...Elevator car, 7a~7c...Counterweight, 10...Group control device, 11...Storage unit, 12...Power usage acquisition unit, 13...Regenerative power control unit, 14...Communication unit, 15...Allocation control unit, 16...Cage load acquisition unit, 21...Robot control device, 22...Robot, 31a~31c...Power regeneration device, 61a~61c...Load sensor, T1...Robot table.

Claims

1. An elevator control device that is communicatively connected to a robot control device that controls the operation of multiple autonomous robots placed in a building, and is equipped with a power regeneration device, A storage means for storing weight information indicating the weight of each of the aforementioned robots, A means for acquiring the amount of electricity used in the equipment within the building, If the acquired amount of electricity used is less than a certain value determined based on the maximum amount of regenerative power generated by the operation of the elevator, the regenerative power control means calculates the load amount to suppress the current amount of regenerative power to an amount suitable for the acquired amount of electricity used, and selects at least one robot from among the robots that is suitable for the load amount based on the weight information. Notification means for notifying the robot control device of a command to place the selected robot into the cart, An elevator control device equipped with [a specific feature / feature].

2. The vehicle further comprises a means for obtaining the load of the aforementioned elevator car, When a new downward call is assigned to the elevator car in which the selected robot is riding, the regenerative power control means calculates the amount of regenerative power generated during the operation of the elevator car based on the acquired load of the elevator car, and if the calculated amount of regenerative power is equal to or greater than the allowable amount of regenerative power determined based on the acquired amount of power used, it determines that the selected robot needs to disembark. When the regenerative power control means determines that it is necessary for the selected robot to disembark, the notification means notifies the robot control device of a command to disembark the selected robot from the elevator car. The elevator control device according to claim 1.

3. The aforementioned power consumption acquisition means acquires the current power consumption of the building after the selected robot boards the elevator car. The regenerative power control means determines that the selected robot needs to disembark if the current power consumption of the building, as acquired, is equal to or greater than the predetermined value. When the regenerative power control means determines that it is necessary for the selected robot to disembark, the notification means notifies the robot control device of a command to disembark the selected robot from the elevator car. The elevator control device according to claim 1.

4. The aforementioned constant value is set so as not to impose a burden on the building's power supply equipment due to voltage changes when regenerated power is returned to the building's power supply. The elevator control device according to claim 1.

5. A group control device for elevators that is communicatively connected to a robot control device that controls the operation of multiple autonomous robots placed in a building, is equipped with a power regeneration device, and controls the operation of multiple elevator cars, A storage means for storing weight information indicating the weight of each of the aforementioned robots, A means for acquiring the amount of electricity used in the equipment within the building, If the acquired amount of electricity used is less than a certain value determined based on the maximum amount of regenerative power generated by the operation of the elevator, the regenerative power control means calculates an amount of regenerative power appropriate to the acquired amount of electricity used, calculates a load amount for each elevator car to suppress the current amount of regenerative power to the calculated amount of regenerative power, and selects at least one robot from among the robots that is appropriate for the load amount based on the weight information, A notification means for notifying the robot control device of a command to place the selected robot into the carrier, When an upward call is registered, the assignment control means assigns a ride-hailing car that the selected robot is in, and when a downward call is registered, it assigns a ride-hailing car that the selected robot is not in. A group control system equipped with a group management control device.

6. The aforementioned constant value is set so as not to impose a burden on the building's power supply equipment due to voltage changes when regenerated power is returned to the building's power supply. The group control device according to claim 5.

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