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

Abstract

To reliably determine when a passenger has boarded and disembarked from an autonomous mobile vehicle, using a simple configuration without installing additional equipment and while reducing equipment costs. [Solution] The elevator control device of the embodiment is provided for each elevator having a movable elevator car installed in a building, and is an elevator control device that controls the elevator, comprising: a communication unit that communicates with an autonomous mobile body that travels autonomously and can ride in the elevator car; an abnormality detection unit that detects abnormalities in communication with the autonomous mobile body; and a door control unit that performs door opening control to open the doors of the elevator car when the elevator car arrives at any floor, and when the abnormality detection unit detects the abnormality, a load detection unit that detects that the load inside the elevator car has changed by a first weight, and if the state in which the load has changed continues for a first time, interrupts the door opening control.

Description

[[Technical Field]]

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

[0002] In recent elevator control systems, autonomous mobile bodies such as robots are caused to board an elevator car, and autonomous mobile body operation such as moving the autonomous mobile bodies to a destination floor (target floor) is performed to execute various types of work.

[0003] In such an elevator control system, if an abnormality occurs in communication between an autonomous mobile body that uses an elevator and an elevator control device that controls the elevator or a server that manages the elevator and the autonomous mobile body, it becomes difficult for the elevator control device to receive a boarding completion notification indicating that the autonomous mobile body has finished boarding the car or an alighting completion notification indicating that the autonomous mobile body has finished alighting from the car from the autonomous mobile body. As a result, the door opening control for keeping the car door in an open state by the elevator control device is continued for a long time, and there is a problem that the operation efficiency of the elevator decreases because the elevator is kept restrained.

[0004] In order to solve such a problem, conventionally, there has been known a technology in which an imaging device such as a camera is installed inside the car, and boarding of the autonomous mobile body into the car and alighting of the autonomous mobile body from the car are determined by analyzing an image captured by the imaging device instead of using the boarding completion notification and the alighting completion notification from the autonomous mobile body (see, for example, Patent Documents 1 to 3).

[0005] Further, for example, Patent Document 4 discloses that a load sensor for detecting the load of the car is provided, and the boarding of the autonomous mobile body into the car and the alighting of the autonomous mobile body from the car can be determined based on a change in the weight of the car corresponding to the weight of the autonomous mobile body detected by the load sensor. [[Prior Art Documents]] [[Patent Documents]]

[0006] [Patent Document 1] Japanese Patent Publication No. 2024-57651 [Patent Document 2] Patent No. 7242762 [Patent Document 3] Patent No. 5473477 [Patent Document 4] Patent No. 7443607 [Overview of the project] [Problems that the invention aims to solve]

[0007] However, conventional technologies have the problem that the equipment becomes excessively large and the equipment costs increase due to the installation of additional equipment such as imaging devices in the elevator car.

[0008] Furthermore, while the technology described in Patent Document 4 uses a load sensor instead of an imaging device, it is difficult to accurately determine whether an autonomous mobile vehicle has boarded or disembarked from its carriage simply by detecting the load with a load sensor. [Means for solving the problem]

[0009] The elevator control device of the embodiment is provided for each elevator having a movable elevator car installed in a building, and is an elevator control device that controls the elevator, comprising: a communication unit that communicates with an autonomous mobile body that travels autonomously and can ride in the elevator car; an abnormality detection unit that detects abnormalities in communication with the autonomous mobile body; and a door control unit that performs door opening control to open the doors of the elevator car when the elevator car arrives at any floor, and when the abnormality detection unit detects the communication abnormality, a load detection unit that detects that the load inside the elevator car has changed by a first weight, and if the state in which the load has changed continues for a first time, interrupts the door opening control. [Brief explanation of the drawing]

[0010] [Figure 1]Figure 1 shows an example of the overall configuration of an elevator control system according to the first embodiment. [Figure 2] Figure 2 is a block diagram showing an example of the functional configuration of a control panel according to the first embodiment. [Figure 3] Figure 3 shows an example of the data structure of the management database according to the first embodiment. [Figure 4] Figure 4 is a block diagram showing an example of the functional configuration of a server in the elevator cloud according to the first embodiment. [Figure 5] Figure 5 is a block diagram showing an example of the functional configuration of a server in the robot cloud according to the first embodiment. [Figure 6] Figure 6 is a block diagram showing an example of the functional configuration of a robot according to the first embodiment. [Figure 7] Figure 7 is a sequence diagram showing an example of the procedure for elevator control processing according to the first embodiment. [Figure 8] Figure 8 is a flowchart showing an example of the procedure for opening the doors when boarding according to the first embodiment. [Figure 9] Figure 9 is a flowchart showing an example of the procedure for opening the doors when alighting according to the first embodiment. [Figure 10] Figure 10 shows an example of a robot disembarking from a vehicle in the first embodiment. [Figure 11] Figure 11 shows an example in the first embodiment where a robot 500, whose rear wheels and rear end are at a certain distance from each other, disembarks from a ride-on car. [Figure 12] Figure 12 is a flowchart showing an example of the door opening procedure according to the second embodiment. [Figure 13] Figure 13 is a schematic diagram showing an example of the configuration near the door of a train car according to the third embodiment. [Figure 14] Figure 14 is a flowchart showing an example of the door opening procedure according to the fourth embodiment. [Modes for carrying out the invention]

[0011] Embodiments will be described below with reference to the drawings.

[0012] [First Embodiment] (Configuration of Elevator Control System 1) Figure 1 is a diagram showing an example of the overall configuration of the elevator control system 1 according to the first embodiment. As shown in Figure 1, the elevator control system 1 of the present embodiment mainly includes control panels 100A, 100B provided for each of a plurality of elevators 2A, 2B, controllers 150A, 150B provided for each of the plurality of elevators 2A, 2B, a server 210 in an elevator cloud 200, a server 310 in a robot cloud 300, a monitoring center 400, and an elevator company 700.

[0013] In the present embodiment, a plurality of elevators 2A, 2B are installed in a building 3 such as an apartment building (which is an example of a building). Although two elevators 2A, 2B are illustrated in the example of Figure 1, the configuration may be such that only one elevator is provided, or three or more elevators are provided.

[0014] Each of the elevators 2A, 2B includes a car 50A, 50B in each hoistway 20A, 20B. In addition, a hoisting machine and a counterweight, which are not shown, are provided in each hoistway 20A, 20B. The cars 50A, 50B and the counterweights are supported so as to be capable of moving up and down by a pair of unillustrated guide rails erected in the hoistways 20A, 20B respectively, and move up and down via ropes.

[0015] In addition to a user 5A, robots 500A, 500B, 500C as autonomous moving bodies can also ride in the cars 50A, 50B.

[0016] The cars 50A, 50B are provided with operation panels 4A, 4B, load sensors 8A, 8B, and lighting devices 13A, 13B. The lighting devices 13A, 13B are installed on the ceilings of the cars 50A, 50B.

[0017] 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.

[0018] 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.

[0019] In this embodiment, a destination floor request 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 request for the robot specifies the robot ID of the robot 500 that wishes to use the elevator 2, the departure floor, and the destination floor (also referred to as the target floor). This operation data is used to move the elevator car 50 to the specified departure floor and then proceed from that departure floor to the specified destination floor. Here, the departure floor is the floor from which the elevator car 50 is boarded. The destination floor request for the robot is an example of a movement request. The destination floor request for the robot may also be referred to as a movement request.

[0020] Furthermore, control panels 4A and 4B are equipped with push buttons and non-contact sensors (not shown) for opening or closing the doors of elevator cars 50A and 50B. User 5A By pressing the push button or by bringing a finger close to the non-contact sensor for detection, the control panels 100A and 100B open or close the door. Here, opening the door is referred to as "door opening," and closing the door is referred to as "door closing."

[0021] The lighting devices 13A and 13B inside elevator cars 50A and 50B are controlled by control panels 100A and 100B to illuminate the interior of elevator cars 50A and 50B by turning on the lights or increasing their brightness.

[0022] Load sensors 8A and 8B are installed at the bottom of the elevator cars 50A and 50B and detect the weight inside the elevator car 50. If a user 5A or robots 500A and 500B are inside the elevator cars 50A and 50B, load sensors 8A and 8B add the weight of user 5A and the weight of robots 500A and 500B and detect the sum of these weights. 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.

[0025] In addition, lighting devices (not shown) can be installed on the ceiling of each landing 25 to illuminate the landing 25. A control panel (not shown) is also provided at the 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). The 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 according to the number of elevators 2A, 2B. Here, if we do not distinguish between multiple elevators 2A, 2B, multiple hoistways 20A, 20B, multiple elevator cars 50A, 50B, multiple control panels 100A, 100B, and multiple controllers 150A, 150B, we will refer to them as elevator 2, hoistway 20, elevator car 50, control panel 100, and controller 150. If we do not distinguish between operation panels 4A, 4B, load sensors 8A, 8B, and lighting devices 13A, 13B, we will refer to them as operation panel 4, load sensor 8, and lighting device 13.

[0037] (Configuration of control panel 100) Next, we will explain 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 the first 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 and the lighting device 13 inside the elevator car 50. Here, the load sensor 8 is an example of a load detection unit.

[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] Management DB111 is a database containing various data necessary for using elevator 2. Figure 3 shows an example of the data structure of the management DB 111 according to the first embodiment. As an example, the management DB111 has a data structure where robot ID, weight, and status are associated, as shown in Figure 2.

[0042] The robot ID is information used to identify robots 500 that can ride the elevator 2 controlled by the control panel 100. The weight is the weight of robot 500 with the robot ID. The status indicates the current status of robot 500 with the robot ID, for example, whether it is riding in the elevator car 50 or waiting at the landing 25. Note that the data structure of the management DB 111 shown in Figure 3 is an example and is not limited to this.

[0043] Returning to Figure 2, 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. That is, 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. Furthermore, the communication unit 102 performs communication processing with the robot 500 via the controller 150, the server 210 of the elevator cloud 200, and the server 310 of the robot cloud 300.

[0044] 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).

[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, an abnormality detection 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 includes robot-only operation, in which no human is allowed to ride in elevator car 50, and non-robot-only operation, in which human is allowed to ride in elevator car 50. Robot-linked operation is sometimes referred to as robot operation. The robot-linked operation control unit 122 performs the group management control described above in robot-linked operation, just as in normal operation.

[0049] In this embodiment, the robot-linked operation control unit 122 moves the elevator car 50 to the departure floor specified in the movement request when the communication unit 101 receives a movement request.

[0050] The anomaly detection unit 124 detects a communication anomaly by the communication unit 102 with the robot 500. Specifically, the anomaly detection unit 124 detects a communication anomaly with the robot 500 by detecting one of the following: a communication anomaly between the control panel 100 and the server 210 of the elevator cloud 200 via the controller 150; a communication anomaly between the server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300; or a communication anomaly between the server 310 of the robot cloud 300 and the robot 500.

[0051] Specifically, the anomaly detection unit 124 performs polling by sending a predetermined signal at regular time intervals via the controller 150 to the server 210 of the elevator cloud 200 using the communication unit 102. This predetermined signal is forwarded from the server 210 of the elevator cloud 200 to the server 310 of the robot cloud 300, and then from the server 310 of the robot cloud 300 to each of the multiple robots 500. When each of the multiple robots 500 receives the predetermined signal, it sends the signal back to the server 310 of the robot cloud 300. This predetermined signal is then forwarded from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200, and further forwarded from the server 210 of the elevator cloud 200 to the control panel 100 via the controller 150.

[0052] Therefore, if polling by the control panel 100 does not yield a response of a predetermined signal, the abnormality detection unit 124 determines that there is an abnormality in one of the following: communication between the control panel 100 and the server 210 of the elevator cloud 200 via the controller 150, communication between the server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300, or communication between the server 310 of the robot cloud 300 and the robot 500.

[0053] Alternatively, the anomaly detection unit 124 of the control panel 100 may be configured to detect communication anomalies by receiving notifications from the server 210 of the elevator cloud 200 or the server 310 of the robot cloud 300 indicating that a communication anomaly has occurred.

[0054] 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 controls the opening of the elevator car 50 when the elevator car 50 arrives at any floor. If the abnormality detection unit 124 detects a communication abnormality, the load sensor 8 detects that the load inside the elevator car 50 has changed by a first weight, and if the changed load continues for a first time, the door opening control is interrupted.

[0055] Here, the case where the changed load continues for a first time means that the load on the elevator car 50 maintains its change from the point in time when it has changed by a first weight and continues for a first time.

[0056] Furthermore, door opening control refers to the control that opens the doors of the elevator car 50, or more specifically, the control that starts opening the doors and brings them to a fully open state.

[0057] More specifically, the door control unit 125 detects that the load inside the elevator car 50 has increased by a first weight using the load sensor 8, and if the increased load continues for a first time, it determines that the robot 500 has finished boarding the elevator car 50 and interrupts the door opening control. After interrupting the door opening control, the door control unit 125 closes the door of the elevator car 50.

[0058] Here, the condition in which the load has increased continues for a first time means that the load on the elevator car 50 has increased by a first weight and has maintained that increase for a first time.

[0059] Furthermore, when the load sensor 8 detects that the load inside the elevator car 50 has decreased by a first weight, and the reduced load state continues for a first time, the door control unit 125 determines that the robot 500 has finished disembarking from the elevator car 50 and interrupts the door opening control. After interrupting the door opening control, the door control unit 125 closes the door of the elevator car 50.

[0060] Here, the condition in which the load is reduced continues for a first time means that the load on the elevator car 50 maintains its reduced state from the point in time when it has decreased by a first weight, and this reduction continues for a first time.

[0061] The first weight can, for example, be the weight of robot 500. The door control unit 125 obtains the weight of robot 500 associated with the robot ID of robot 500 that made the movement request from the management DB 111 and uses it as the first weight. However, the first weight is not limited to this and may be, for example, half or more of the weight of robot 500.

[0062] When an anomaly detection unit 124 detects a communication anomaly, the door control unit 125 determines that the robot 500 has started to board the elevator car 50 or disembark from the elevator car 50 if the load sensor 8 detects a change in the load inside the elevator car 50. In other words, the door control unit 125 determines that the robot 500 has started to board the elevator car 50 if the load inside the elevator car 50 changes and begins to increase. On the other hand, the door control unit 125 determines that the robot 500 has started to disembark from the elevator car 50 if the load inside the elevator car 50 changes and begins to decrease.

[0063] Then, if the load inside the elevator car 50 does not change even after a second time has elapsed since the abnormality detection unit 124 detected a communication abnormality, the robot-linked operation control unit 122 determines that the robot 500 will not board or alight from the elevator car 50, closes the doors, moves the elevator car 50 to a predetermined floor, and terminates the robot-linked operation. Here, the predetermined floor is, for example, the base floor, and in the case of alighting from the elevator car 50, it may be the floor where the robot 500 boarded in addition to the base floor. Alternatively, the predetermined floor may be the next destination floor. Here, the base floor is the floor where the robot 500 is waiting before moving, for example, the lobby floor where the entrance is located can be the base floor. However, it is not limited to this.

[0064] Furthermore, the door control unit 125 continues door opening control and does not close the door if the load inside the elevator car 50 has changed but only the first weight has not changed, that is, if the robot 500 has started to board or alight but has not yet completed boarding or alighting.

[0065] The output control unit 126 outputs a warning message to the speaker (not shown) of the control panel 4 inside the elevator car 50. Here, if the load inside the elevator car 50 does not change by the first weight even after a third time has elapsed since the load inside the elevator car 50 changed, that is, since the robot 500 started to board or alight, it means that the robot 500 that started to board or alight is still stuck between the elevator car 50 and the landing 25. Therefore, if the door is closed in this state, the door control unit 125 continues to control the door opening, and the output control unit 126 outputs a warning message if the load inside the elevator car 50 does not change by the first weight even after a third time has elapsed since the load inside the elevator car 50 changed.

[0066] The warning message may be, for example, a message indicating that part of the robot 500 is on the platform 25, but is not limited to this. The output control unit 126 may be configured to display the warning message on the display device of the control panel 4.

[0067] (Configuration of Server 210 of Elevator Cloud 200) Next, we will describe the details of server 210 within the elevator cloud 200. Figure 4 is a block diagram showing an example of the functional configuration of a server 210 in the elevator cloud 200 according to the first embodiment. As shown in Figure 4, the server 210 mainly comprises a control unit 211, a communication unit 212, and a storage unit 220, as is typical for a computer.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] The control unit 211 consists of a hardware processor (CPU). The control unit 211 controls the entire server 210 of the elevator cloud 200. The control unit 211 also performs various controls on all elevators 2 within the building 3.

[0072] (Configuration of Server 310 in Robot Cloud 300) Next, we will describe the details of server 310 within robot cloud 300. Figure 5 is a block diagram showing an example of the functional configuration of a server 310 in a robot cloud 300 according to the first embodiment. As shown in Figure 5, the server 310 mainly comprises a control unit 311, a communication unit 312, and a storage unit 320, as is typical for a computer.

[0073] The memory unit 320 is a storage medium (memory device) such as ROM or RAM. Various programs are stored in the memory unit 320.

[0074] 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.

[0075] 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.

[0076] The control unit 311 consists of a hardware processor (CPU). The control unit 311 controls the entire server 310 of the robot cloud 300. The control unit 311 controls various processes related to the robot 500.

[0077] (Configuration of Robot 500) Next, we will explain the details of Robot 500. Figure 6 is a block diagram showing an example of the functional configuration of a robot 500 according to an embodiment. As shown in Figure 6, the robot 500 mainly comprises a camera 506, an acceleration sensor 521, various sensors 505, a control unit 501, a communication unit 502, a driving control unit 509, a drive unit 503, and a storage unit 510.

[0078] 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.

[0079] The acceleration sensor 521 detects the acceleration of the elevator car 50 in the vertical direction, that is, the vertical direction in Figure 1, or in other words, the Z-axis direction.

[0080] The various sensors 505 include, for example, motion sensors and load sensors, but are not limited to these.

[0081] 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.

[0082] The communication unit 502 consists of a communication device having a predetermined communication protocol and performs communication processing between the robot 500 and the server 310 in the robot cloud 300. In this embodiment, the communication unit 502 receives a notification from the control panel 100, via the server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300, indicating that the robot is ready to disembark.

[0083] 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 to the control panel 100 via the server 310 in the robot cloud 300 and the server 210 in the elevator cloud 200. In addition, when disembarking from the elevator car 50 is complete, the communication unit 502 sends a disembarking completion notification to the control panel 100 via the server 310 in the robot cloud 300 and the server 210 in the elevator cloud 200.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] (Elevator control processing) Next, the elevator control process performed by the elevator control system 1 of this embodiment, configured as described above, will be explained. Figure 7 is a sequence diagram showing an example of the procedure for elevator control processing according to the first embodiment.

[0088] Here, the control panel 100 performs the aforementioned polling at regular intervals to perform a communication check to determine that there are no communication abnormalities between the control panel 100, the server 210 of the elevator cloud 200, the server 310 of the robot cloud 300, and each of the multiple robots 500.

[0089] First, when the robot 500 starts using elevator 2, 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 (S11a). 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 (S11b), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 via the controller 150 (S11c).

[0090] In the control panel 100, when the communication unit 102 receives a movement request, the robot-linked operation control unit 122 performs group control in cooperation with the control panels 100 of other elevators 2 and assigns a car 50 (S12). The communication unit 102 then sends a movement instruction to the elevator cloud 200 server 210 via the controller 150 to board the assigned car 50 (S13a). This movement instruction is sent from the elevator cloud 200 server 210 to the robot cloud 300 server 310 (S13b), and then from the robot cloud 300 server 310 to the robot 500 that made the movement request (S13c). As a result, when the communication unit 502 receives the movement request, the robot 500 moves to the departure floor landing 25.

[0091] Next, 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 (S14), the door control unit 125 starts opening the doors (S15). Then, the communication unit 102 sends a boarding readiness completion notification to the elevator cloud 200 server via the controller 150 (S16a). This boarding readiness completion notification is sent from the elevator cloud 200 server 210 to the robot cloud 300 server 310 (S16b), and further sent from the robot cloud 300 server 310 to the robot 500 that made the movement request (S16c).

[0092] Next, the door control unit 125 performs the door opening process when boarding (S17). Details of the door opening process when boarding will be described later.

[0093] When the communication unit 502 receives a notification that the robot 500, which is waiting at platform 25 on the departure floor, is ready to board, it begins boarding the elevator car 50, which has started opening its doors (S18). Once the robot 500 has completed boarding the elevator car 50 (S19), the communication unit 502 sends a boarding completion notification to the server 310 of the robot cloud 300 (S20a). This boarding completion notification is then sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S20b), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 via the controller 150 (S20c).

[0094] However, suppose a communication error occurs between the robot 500 and the server 310 of the robot cloud 300, between the server 310 of the robot cloud 300 and the server 210 of the elevator cloud 200, or between the server 210 of the elevator cloud 200 and the control panel 100, and the boarding completion notification does not reach the control panel 100. However, in this embodiment, the door opening process at boarding in S17 is performed, so even if the boarding completion notification from the robot 500 is not received, the door can be closed after the robot 500 has completed boarding (S21).

[0095] Next, in the control panel 100, the robot-linked operation control unit 122 moves the elevator car 50 to the destination floor and brings it there (S22). Then, the door control unit 125 starts opening the doors (S23). Then, the communication unit 102 sends a disembarking readiness notification to the elevator cloud 200 server via the controller 150 (S24a). This disembarking readiness notification is sent from the elevator cloud 200 server 210 to the robot cloud 300 server 310 (S24b), and further sent from the robot cloud 300 server 310 to the robot 500 that made the movement request (S24c).

[0096] Next, the door control unit 125 executes the door opening process when a passenger disembarks (S25). Details of the door opening process when a passenger disembarks will be described later.

[0097] When the communication unit 502 receives a notification that the robot 500 is ready to disembark from platform 25, it begins disembarking from elevator car 50, which has started opening its doors (S26). Once the robot 500 has finished disembarking from elevator car 50 (S27), the communication unit 502 sends a disembarkation completion notification to the server 310 of the robot cloud 300 (S28a). This boarding completion notification is then sent from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S28b), and further sent from the server 210 of the elevator cloud 200 to the control panel 100 via the controller 150 (S28c).

[0098] However, suppose a communication error occurs between the robot 500 and the server 310 of the robot cloud 300, between the server 310 of the robot cloud 300 and the server 210 of the elevator cloud 200, or between the server 210 of the elevator cloud 200 and the control panel 100, and the disembarkation completion notification does not reach the control panel 100. However, in this embodiment, the door opening process at the time of disembarkation in S25 is performed, so even if the disembarkation completion notification from the robot 500 is not received, the door can be closed after the robot 500 has finished disembarking (S29). With this, the series of elevator control processes is completed.

[0099] (Door opening procedure upon boarding) Next, we will explain the details of the door opening process when boarding the S17. Figure 8 is a flowchart showing an example of the procedure for opening the doors when boarding according to the first embodiment.

[0100] First, the communication unit 102 determines whether a communication abnormality has been detected for a certain period of time through a communication check (S101). If no communication abnormality has been detected for a certain period of time (S101: No), the robot interlocking operation control unit 122 continues the robot interlocking operation (S110). Then, the process returns to the caller.

[0101] On the other hand, if a communication anomaly is detected for a certain period of time in S101 (S101:Yes), the door control unit 125 determines whether the robot 500 has started to board based on the change in weight (load) inside the elevator car 50 obtained from the load sensor 8 (S102). If the robot 500 has not started to board (S102:No), it determines whether a second period of time has elapsed since the time of S101 (S113). If the second period of time has not elapsed (S113:No), the determination of whether the robot 500 has started to board (S102) is repeated.

[0102] In S113, if the second time has elapsed (S113: Yes), the robot-linked operation control unit 122 determines that the robot 500 will not board, closes the doors, and terminates the robot-linked operation service (S114). Then the process ends. At this point, the robot-linked operation control unit 122 may be configured to move the elevator car 50 to the base floor.

[0103] On the other hand, if the robot 500 has started to board in S102 (S102: Yes), the door control unit 125 determines whether the weight inside the elevator car 50 obtained from the load sensor 8 is equal to or greater than the weight of the robot 500 as the first weight (S103).

[0104] If the weight of the elevator car 50 is less than the weight of the robot 500 (S103: No), the robot 500 has started to board the elevator car 50, but part of the robot 500 is still on the landing 25, so the door control unit 125 continues to control the door opening (S107). Next, the output control unit 126 determines whether a third time has elapsed since the start of boarding in S102 (S108). If the third time has not yet elapsed (S108: No), the process returns to S103.

[0105] On the other hand, if the third time period has elapsed (S108: Yes), the robot 500 remains stationary between the elevator car 50 and the landing 25, and if the door opening control is interrupted and the door is closed, the door will collide with the robot 500. For this reason, the output control unit 126 outputs a warning message to the speaker on the control panel 4, for example, that part of the robot 500 is in the landing 25 (S109). Then, after predetermined countermeasures are taken, for example, to fully board the robot 500 (S112), the process returns to S103.

[0106] In S103, if the weight of the elevator car 50 is greater than or equal to the weight of the robot 500 (S103: Yes), the door control unit 125 determines whether the first time period has elapsed since the weight of the elevator car 50 became greater than or equal to the weight of the robot 500 (S104). If the first time period has not yet elapsed (S104: No), the door opening control continues (S106), and the process proceeds to S103. The control panel 100 then repeatedly executes S103 and S104.

[0107] In S104, once the first time has elapsed (S104: Yes), the door control unit 125 determines that the robot 500 has finished boarding the elevator car 50 and interrupts the door opening control (S105). Then, the robot interlocking operation control unit 122 terminates the robot interlocking operation. Next, the process returns to the caller.

[0108] (Door opening procedure when alighting) Next, we will explain the details of the door opening procedure when passengers disembark from the S25. Figure 9 is a flowchart showing an example of the procedure for opening the doors when alighting according to the first embodiment. Here, the processes S101 and S110 are carried out in the same way as the door opening process when boarding.

[0109] If a communication anomaly is detected for a certain period of time in S101 (S101:Yes), the door control unit 125 determines whether the robot 500 has started to disembark based on changes in the weight (load) inside the elevator car 50 obtained from the load sensor 8 (S202). If the robot 500 has not started to disembark (S202:No), the robot proficiency operation control unit 122 determines whether a second period of time has elapsed since the time of S101 (S113). If the second period of time has not elapsed (S113:No), the determination of whether the robot 500 has started to disembark (S202) is repeated.

[0110] If the second time period has elapsed in S113 (S113: Yes), the robot-linked operation control unit 122 determines that the robot 500 will not disembark and moves the elevator car 50 to a designated floor (such as the reference floor or the floor where the robot 500 boarded). Once the elevator car 50 arrives at the designated floor, the door control unit 125 opens the doors of the elevator car 50 (S205). Next, the output control unit 126 outputs a warning message to the control panel 4 of the elevator car 50 and the control panel (not shown) of the landing 25 (S206). Upon hearing the warning message, the operator rescues the robot 500 by manually disembarking the elevator car 50, if the robot was unable to disembark (S207). The process then ends.

[0111] On the other hand, if the robot 500 has started to disembark in S202 (S202: Yes), the door control unit 125 determines whether the weight inside the elevator car 50 obtained from the load sensor 8 is less than or equal to the weight of the robot 500 as the first weight (S203).

[0112] If the weight of the elevator car 50 is greater than the weight of the robot 500 (S203: No), the robot 500 has started to disembark from the elevator car 50, but part of the robot 500 is still in the landing 25, so the door control unit 125 continues door opening control (S107). Next, the output control unit 126 determines whether a third time has elapsed since the start of disembarkation in S202 (S108). If the third time has not yet elapsed (S108: No), the process returns to S203.

[0113] On the other hand, if the third time period has elapsed (S108: Yes), the robot 500 remains stationary between the elevator car 50 and the landing 25, and if the door opening control is interrupted and the door is closed, the door will collide with the robot 500. For this reason, the output control unit 126 outputs a warning message to the control panel 4, for example, indicating that part of the robot 500 is in the landing 25 (S109). Then, after predetermined countermeasures are taken, such as completely disembarking the robot 500 (S112), the process returns to S203.

[0114] In S203, if the weight of the elevator car 50 is less than or equal to the weight of the robot 500 (S203: Yes), the door control unit 125 determines whether the first time period has elapsed since the time when the weight of the elevator car 50 became less than or equal to the weight of the robot 500 (S202) (S104). If the first time period has not yet elapsed (S104: No), the door opening control continues (S106), and the process proceeds to S203. The control panel 100 then repeatedly executes S203 and S104.

[0115] In S104, once the first time has elapsed (S104: Yes), the door control unit 125 determines that the robot 500 has finished disembarking from the elevator car 50 and interrupts the door opening control (S105). Then, the robot interlocking operation control unit 122 terminates the robot interlocking operation. Next, the process returns to the caller.

[0116] Here, in the door opening process when boarding and when alighting, the reason for waiting for a first time to elapse from the point when the weight of the elevator car 50 changes by the weight of the robot 500 before interrupting the door opening control is as follows:

[0117] Figure 10 shows an example of the robot 500 disembarking from the elevator car 50 in the first embodiment. In Figure 10, an example is shown where the front-to-rear width of the robot 500 is approximately the same length as the distance between the front and rear wheels.

[0118] As shown in Figure 10(a), consider the case where the robot 500 disembarks from inside the elevator car 50 and moves to the landing 25. As shown in Figure 10(b), when only the front wheels of the robot 500 move to the landing 25, the load on the elevator car 50 is about half the weight of the robot 500. Then, when the robot 500 continues disembarking and, as shown in Figure 10(c), the rear wheels also detach from the elevator car 50 and move to the landing 25, there is no particular problem in handling the disembarkation at that point and closing the doors. The same applies when boarding.

[0119] However, in the case of robot 500, where the front-to-back width is long and there is a certain distance between the rear wheels and the rear end, it is not possible to treat disembarking or boarding solely based on a change in the load on the passenger car 50.

[0120] Figure 11 shows an example in the first embodiment where a robot 500, with its rear wheels and rear end at a certain distance from each other, disembarks from the elevator car 50. As shown in Figure 11(a), even when the rear wheels of the robot 500 move to the landing 25, the portion from the rear wheels to the rear end is still inside the elevator car 50. If the disembarkation is judged to be complete at this point, and the door opening control is interrupted and the door is closed, the door will collide with the rear of the robot 500.

[0121] Therefore, in this embodiment, a first time period elapses from the point when the weight of the elevator car 50 becomes less than or equal to the first weight corresponding to the weight of the robot 500. As shown in Figure 11(b), once the rear end of the robot 500 has completely exited the elevator car 50, it is determined that disembarking is complete, and the door opening control is interrupted and the door is closed. The same applies when the robot 500 boards the elevator car 50.

[0122] (Overview) In the elevator control system 1 according to this embodiment, the control panel 100 performs door-opening control to open the doors of the elevator car 50 when the elevator car 50 arrives at any floor. If a communication abnormality with the robot 500 is detected, the load sensor 8 detects that the load inside the elevator car 50 has changed by a first weight, and if the changed load continues for a first time, the door-opening control is interrupted.

[0123] Therefore, according to this embodiment, if an abnormality is detected in communication with the robot 500, and the state in which the load of the elevator car 50 has changed by a first weight continues for a first time, the door opening control is interrupted. Thus, it is possible to reliably determine when the robot 500 has completed boarding the elevator car 50 and when it has completed disembarking from the elevator car, with a simple configuration that does not require the installation of additional equipment such as cameras, and while reducing equipment costs.

[0124] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 interrupts the door opening control when the load sensor 8 detects that the load inside the elevator car 50 has increased by a first weight, and the increased load continues for a first time.

[0125] Therefore, according to this embodiment, if a communication abnormality is detected in communication with the robot 500, and the load on the elevator car 50 increases by a first weight for a first time, the door opening control is interrupted. This makes it possible to reliably determine when the robot 500 has completed boarding the elevator car 50 with a simple configuration without installing additional equipment such as cameras, and while reducing equipment costs.

[0126] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 interrupts the door opening control when the load sensor 8 detects that the load inside the elevator car 50 has decreased by a first weight, and the reduced load state continues for a first time.

[0127] Therefore, according to this embodiment, if an abnormality is detected in communication with the robot 500, and the state in which the load of the elevator car 50 has decreased by a first weight continues for a first time, the door opening control is interrupted. Thus, it is possible to reliably determine that the robot 500 has completed disembarking from the elevator car 50 with a simple configuration without installing additional equipment such as cameras, and while reducing equipment costs.

[0128] Furthermore, in the elevator control system 1 according to this embodiment, when a communication abnormality is detected, the control panel 100 determines that the robot 500 has started to board the elevator car 50 or has started to disembark from the elevator car 50 when the load sensor 8 changes the load inside the elevator car 50. If the load inside the elevator car 50 does not change even after a second time has elapsed since the detection of the communication abnormality, the elevator car 50 is moved to a predetermined floor.

[0129] Therefore, according to this embodiment, even in situations where a communication error occurs when the robot 500 does not begin boarding or alighting, the elevator car 50 can be quickly moved to a predetermined floor.

[0130] Furthermore, in the elevator control system 1 according to this embodiment, when a communication abnormality is detected, the control panel 100 determines that the robot 500 has started boarding the elevator car 50 or has started disembarking from the elevator car 50 when the load sensor 8 changes the load inside the elevator car 50. If the load inside the elevator car 50 does not change even after a second time has elapsed since the detection of the communication abnormality, the robot-linked operation service is terminated.

[0131] Therefore, according to this embodiment, if the robot 500 does not start boarding or alighting in the event of a communication abnormality, the robot-linked operation service can be terminated promptly.

[0132] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 continues door opening control if, after a change in the load inside the elevator car 50, the load sensor 8 detects that the load inside the elevator car 50 has not changed by a first weight. If, after a third time has elapsed since the load inside the elevator car 50 changed, the load inside the elevator car 50 has not changed by the first weight, a warning is output.

[0133] Therefore, according to this embodiment, if the robot 500 has started to board or alight but has not yet completed boarding or alighting, and the boarding area 25 and the elevator car 50 are still standing, it is possible to avoid the doors closing prematurely, and ensure that the robot 500 completes boarding the elevator car 50 and alighting from the elevator car 50.

[0134] Furthermore, in the elevator control system 1 according to this embodiment, the control panel 100 communicates with the robot 500 via the server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300, and detects any of the following: a communication abnormality between the control panel 100 and the server 210 of the elevator cloud 200, a communication abnormality between the server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300, or a communication abnormality between the server 310 of the robot cloud 300 and the robot 500.

[0135] Therefore, according to this embodiment, if any of the following is detected: a communication anomaly between devices that can communicate with the robot 500, namely a communication anomaly between the control panel 100 and the server 210 of the elevator cloud 200, a communication anomaly between the server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300, or a communication anomaly between the server 310 of the robot cloud 300 and the robot 500, and the state in which the load of the elevator car 50 has changed by a first weight continues for a first time, the door opening control is interrupted. Thus, it is possible to reliably determine when the robot 500 has completed boarding the elevator car 50 and when it has completed disembarking from the elevator car, with a simple configuration that does not require the installation of additional equipment such as cameras, and while reducing equipment costs.

[0136] [Second Embodiment] In the first embodiment, the door opening control was interrupted and the door closed after the weight of the elevator car 50 changed by a first weight and a first time had elapsed. In this second embodiment, however, if the door does not become fully closed (referred to as fully closed) even after a third time has elapsed since the door opening control was interrupted, the door opening control is continued.

[0137] The overall configuration of the elevator control system 1 according to the second embodiment, the configuration of the control panel 100, The configuration of the server 210 of the elevator cloud 200, the configuration of the server 310 of the robot cloud 300, and the configuration of the robot 500 are the same as in the first embodiment.

[0138] In the control panel 100 according to this embodiment, if the door control unit 125 interrupts the door opening control and the door does not become fully closed (fully closed), it continues the door opening control to fully open the door.

[0139] Therefore, in the control panel 100 according to this embodiment, the robot-linked operation control unit 122 does not return to normal operation, which involves moving the elevator car 50 without a robot on board.

[0140] Next, the elevator control process according to this embodiment will be described. The elevator control process according to this embodiment is the same as in the first embodiment. In this embodiment, the door opening process in S17 when boarding and the door opening process in S25 differ from those in the first embodiment.

[0141] Figure 12 is a flowchart showing an example of the door opening procedure according to the second embodiment. The door opening procedure in this embodiment is the same as the door opening procedure when boarding and when alighting in the first embodiment.

[0142] After the door closing process following the door opening process upon boarding (S21) and the door closing process following the door opening process upon alighting (S29), when a fourth time interval has elapsed since the start of door closing (S501), the door control unit 125 determines whether or not all doors of the elevator car 50 have been closed (S502). If all doors have been closed (S502; Yes), the process returns to the next step in Figure 7.

[0143] On the other hand, if all doors are not closed after the fourth time period has elapsed (S502: No), the output control unit 126 outputs a warning message to the control panel 4 (S503). Next, the door control unit 125 continues the door opening control to bring all doors into an open state (S505). Then, the message processing returns to the caller.

[0144] In the elevator control system 1 according to this embodiment, if the door does not fully close after the door opening control is interrupted, the control panel 100 continues the door opening control to fully open the door. Then, the process returns to the next process shown in Figure 7.

[0145] Therefore, according to this embodiment, if the door does not fully close after the door opening control is interrupted because the robot 500 is boarding or alighting, the system determines that the robot 500 has not completed boarding or alighting for some reason, outputs a warning message, and continues the door opening control to fully open the door. This makes it possible to more reliably avoid the door colliding with the robot 500 while it is boarding or alighting.

[0146] [Third Embodiment] In the above embodiment, the boarding and disembarking of the robot 500 into the elevator car 50 was determined solely by the change in load inside the elevator car 50 detected by the load sensor 8. However, in this third embodiment, the boarding and disembarking of the robot 500 into the elevator car 50 is also determined by a photoelectric sensor installed on the door.

[0147] Figure 13 is a schematic diagram showing an example of the configuration near the door 401 of the elevator car 50 according to the third embodiment. In the elevator 2 of this embodiment, two photoelectric sensors 1501 are provided on the contact surface 1503 when the left and right doors 401 are closed.

[0148] The photoelectric sensor 1501 consists of a light-emitting unit 1501a that emits light and a light-receiving unit 1501b that receives the light emitted from the light-emitting unit 1501a. As shown in Figure 13, two light-emitting units 1501a that emit light in a substantially horizontal direction are provided on the contact surface 1503 of one of the two doors 401, and two light-receiving units 1501b corresponding to the light-emitting units 1501a are provided on the contact surface 1503 of the other door 401.

[0149] Therefore, when the robot 500 or a user boards or alights from the elevator car 50, and passes in front of the open door 401, i.e., the entrance / exit 1502, the light emitted from the light emitter 1501a is blocked and cannot be received by the light receiver 1501b, thereby enabling the detection of the robot 500 or user passing through the entrance / exit 1502, i.e., boarding and alighting. The photoelectric sensor 1501 is connected to the control panel 100 by wire or wireless, and the detection signal from the photoelectric sensor 1501 is transmitted to the control panel 100. The photoelectric sensor 1501 is an example of a passage detection unit.

[0150] Other configurations of the elevator control system 1 according to the third embodiment, the configuration of the control panel 100, the configuration of the server 210 of the elevator cloud 200, the configuration of the server 310 of the robot cloud 300, and the configuration of the robot 500 are the same as in the first embodiment.

[0151] In the control panel 100 according to this embodiment, when the photoelectric sensor 1501 detects passage through the entrance / exit 1502 of the elevator car 50, the door control unit 125 does not interrupt the door opening control but fully opens the door, and only interrupts the door opening control after the photoelectric sensor 1501 no longer detects passage.

[0152] Next, the elevator control process according to this embodiment will be described. The elevator control process according to this embodiment is the same as in the first embodiment. In this embodiment, the door opening process in S17 when boarding and the door opening process in S25 differ from those in the first embodiment.

[0153] Figure 14 is a flowchart showing an example of the door opening procedure according to the third embodiment. In this embodiment, the door opening procedure is performed from S101 to S104, similar to the door opening procedure when boarding and when alighting in the first embodiment.

[0154] In S104, if the first time has elapsed since the first change in the load inside the elevator car 50 (S104: Yes), the door control unit 125 determines whether or not the photoelectric sensor 1501 has detected passage through the entrance / exit 1502 of the elevator car 50 (S601).

[0155] If the photoelectric sensor 1501 detects that the robot 50 has passed through the entrance / exit 1502 of the elevator car 50 (S601: Yes), the door control unit 125 determines that the robot 500 has not yet finished boarding or alighting and continues the door opening control (S602). Then, the process returns to S601, and if the photoelectric sensor 1501 no longer detects that the robot 50 has passed through the entrance / exit 1502 of the elevator car 50 (S601: No), the door control unit 125 determines that the robot 500 has not yet finished boarding or alighting and interrupts the door opening control (S105). Then, the process returns to the caller.

[0156] In the elevator control system 1 according to this embodiment, the control panel 100 is provided on the contact surface 1503 of the door 401 and, when the passage of the elevator car 50 through the entrance 1502 is detected by the photoelectric sensor 1501, the door opening control is not interrupted, and the door 401 is opened completely. The door opening control is interrupted only after the photoelectric sensor 1501 no longer detects passage through the entrance 1502.

[0157] Therefore, according to this embodiment, not only the load sensor 8 but also the photoelectric sensor 1501 is used to detect passage through the entrance / exit 1502, that is, the robot 500 boarding the elevator car 50 and disembarking from the elevator car 50. Accordingly, according to this embodiment, it is possible to more reliably determine when the robot 500 has completed boarding the elevator car 50 and when it has completed disembarking from the elevator car.

[0158] [Differentiation] Various modifications are possible to the above embodiment. (Variation 1) If the elevator car 50 arrives at any floor and the abnormality detection unit 124 detects a communication abnormality, the door control unit 125 may be configured not to perform door opening control. Alternatively, if the elevator car 50 arrives at any floor and the abnormality detection unit 124 detects a communication abnormality, and a robot 500 is riding in the elevator car 50, the robot interlocking operation control unit 122 may be configured to move the elevator car 50 to the floor where the robot 500 is riding or to a reference floor.

[0159] (Modification 2) Consider a case where two robots, a first robot 500 and a second robot 500, are riding in the same elevator car 50, but the weights of the first robot 500 and the second robot 500 are different. In this case, when the elevator car 50 arrives at any floor, the abnormality detection unit 124 detects an abnormality in communication with the first robot 500, and if it detects that communication with the second robot 500 is normal, the door opening control unit 125 is configured to open the doors of the elevator car 50. The load sensor 8 detects that the load inside the elevator car 50 has changed by a first weight, and if the changed load continues for a first time, the door opening control unit 125 is configured to interrupt the door opening control.

[0160] According to this modified example 2, when two robots 500 board or alight from the elevator car 50, even if an abnormality is detected in communication with only one of the robots 500, it is possible to reliably determine that the robots 500 have completed boarding the elevator car 50 and alighting from the elevator car 50 with a simple configuration without installing additional equipment such as cameras, while reducing equipment costs.

[0161] (Variation 3) Similar to the second modification, consider the case where the first robot 500 and the second robot 500, among the multiple robots 500, ride in the same elevator car 50. In this case, assume that the weight of the first robot 500 and the weight of the second robot 500 are the same. When the elevator car 50 arrives at any floor, if the abnormality detection unit 124 detects an abnormality in communication with the first robot 500 and detects that communication with the second robot 500 is normal, the door opening control unit 125 may be configured to open the doors of the elevator car 50. The load sensor 8 may detect that the load inside the elevator car 50 has changed by a first weight, and if the changed load state continues for a first time, the door opening control unit 125 may be configured to interrupt the door opening control.

[0162] According to this modified example 3, when two robots 500 board or alight from the elevator car 50, even if an abnormality is detected in communication with only one of the robots 500, it is possible to reliably determine that the robots 500 have completed boarding the elevator car 50 and alighting from the elevator car 50 with a simple configuration without installing additional equipment such as cameras, while reducing equipment costs.

[0163] (Modification 4) Similar to the second modified example, consider the case where the first robot 500 and the second robot 500, among the multiple robots 500, ride in the same elevator car 50. In this case, assume that the weight of the first robot 500 and the weight of the second robot 500 are the same. When the elevator car 50 arrives at any floor, if the abnormality detection unit 124 detects an abnormality in communication with the first robot 500 and detects that communication with the second robot 500 is normal, the door opening control unit 125 may be configured to open the doors of the elevator car 50 and not interrupt the door opening control.

[0164] According to this modified example 4, when two robots 500 board or alight from the elevator car 50, if an abnormality is detected in communication with only one of the robots 500, the door opening control is not performed, thereby improving the operational efficiency of the elevator 2.

[0165] (Variation 5) In the above embodiment, the period during which a change in load persists for a first time was defined as the period from when the load of the elevator car 50 changed by a first weight, but it is not limited to this. For example, the period during which a change in load persists for a first time may be defined as the period from when the load of the elevator car 50 began to change (i.e., including before the weight change by a first amount after boarding or alighting has begun). Similarly, the period during which an increase in load persists for a first time may be defined as the period from when the increase in the load of the elevator car 50 began (i.e., including before the weight increase by a first amount after boarding has begun). Furthermore, the period during which a decrease in load persists for a first time may be defined as the period from when the decrease in the load of the elevator car 50 began (i.e., including before the weight decrease by a first amount after alighting has begun).

[0166] 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.

[0167] 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.

[0168] 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).

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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]

[0173] 1...Elevator control system, 2,2A,2B...Elevator, 3...Building, 4,4A,4B...Control panel, 5A...User, 506...Camera, 8,8A,8B...Load sensor, 20,20A,20B...Hostel, 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 unit, 110,220,320,510...Storage unit, 11 1...Management DB, 121...Normal operation control unit, 122...Robot-linked operation control unit, 124...Anomaly detection unit, 125...Door control unit, 126...Output control unit, 150, 150A, 150B...Controller, 160...Control room, 200...Elevator cloud, 210...Server (server for elevators), 300...Robot cloud, 310...Server (server for autonomous mobile units), 500...Robot (autonomous mobile unit), 503...Drive unit, 509...Travel control unit, 521...Accelerometer.

Claims

1. An elevator control device is provided for each elevator having a movable elevator car installed within a building, and controls the elevator, A communication unit that communicates with an autonomous mobile body that can drive autonomously and board the aforementioned cart, An anomaly detection unit that detects a communication anomaly with the aforementioned autonomous mobile unit, When the elevator car arrives at any floor, a door opening control is performed to open the doors of the elevator car, and when the abnormality detection unit detects the communication abnormality, a load detection unit detects that the load inside the elevator car has changed by a first weight, and if the state in which the load has changed continues for a first time, a door control unit interrupts the door opening control. An elevator control device equipped with [a specific feature].

2. The door control unit interrupts the door opening control when the load detection unit detects that the load inside the elevator car has increased by the first weight, and the increased load continues for the first time. The elevator control device according to claim 1.

3. The door control unit interrupts the door opening control when the load detection unit detects that the load inside the elevator car has decreased by the first weight, and the reduced load state continues for the first time. The elevator control device according to claim 1.

4. The vehicle further comprises a control unit for controlling the movement of the elevator car, When the abnormality detection unit detects the communication abnormality, the door control unit determines, when the load detection unit detects a change in the load inside the elevator car, that the autonomous mobile vehicle has started to board the elevator car or has started to disembark from the elevator car. If the control unit does not change the load inside the elevator car even after a second time has elapsed since detecting the communication anomaly, it moves the elevator car to a predetermined floor. The elevator control device according to claim 1.

5. The vehicle further comprises a control unit for controlling the movement of the elevator car, When the abnormality detection unit detects the communication abnormality, the door control unit determines, when the load detection unit detects a change in the load inside the elevator car, that the autonomous mobile vehicle has started to board the elevator car or has started to disembark from the elevator car. The control unit terminates the autonomous mobile unit linked operation if the load inside the elevator car does not change even after a second time has elapsed since detecting the communication abnormality. The elevator control device according to claim 1.

6. If, after the load inside the elevator car has changed, the load detection unit determines that the load inside the elevator car has not changed by the first weight, the door control unit continues the door opening control. The elevator control device is If, after a third time has elapsed since the load inside the elevator car changed, the load inside the elevator car has not changed by the first weight, the output control unit outputs a warning. The elevator control device according to claim 4, further comprising the above.

7. The vehicle further comprises a control unit for controlling the movement of the elevator car, If the door does not become fully closed after the door opening control has been interrupted, the door opening control continues the door opening control to fully open the door. The elevator control device according to claim 1.

8. The door control unit, when a passage is detected by a passage detection unit provided on the door that detects passage to the entrance / exit of the elevator car, does not interrupt the door opening control, but fully opens the door, and only after the passage detection unit no longer detects passage does it interrupt the door opening control. The elevator control device according to claim 1.

9. The vehicle further comprises a control unit for controlling the movement of the elevator car, The door control unit, when the elevator car arrives at any floor, and when the abnormality detection unit detects the communication abnormality, will not perform the door opening control. When the elevator car arrives at any floor, and the abnormality detection unit detects the communication abnormality, if the autonomous mobile vehicle is in the elevator car, the control unit moves the elevator car to the floor where the autonomous mobile vehicle is in or to the reference floor. The elevator control device according to claim 1.

10. Of the multiple autonomous mobile units, the first autonomous mobile unit and the second autonomous mobile unit ride in the same elevator car, and the weight of the first autonomous mobile unit and the weight of the second autonomous mobile unit are different. The door control unit performs door-opening control to open the doors of the elevator car when the elevator car arrives at any floor, when the abnormality detection unit detects an abnormality in communication with the first autonomous mobile unit and detects that communication with the second autonomous mobile unit is normal, and when the load detection unit detects that the load inside the elevator car has changed by a first weight, and the state in which the load has changed continues for a first time, the door-opening control is interrupted. The elevator control device according to claim 1.

11. The communication unit communicates with the autonomous mobile unit via a network connection to the elevator control device and an elevator server that controls all elevators in the building, and an autonomous mobile unit server that is network connection to the elevator server and the autonomous mobile unit and controls the autonomous mobile unit. The abnormality detection unit detects any of the following: a communication abnormality between the elevator control device and the elevator server, a communication abnormality between the elevator server and the autonomous mobile unit server, or a communication abnormality between the autonomous mobile unit server and the autonomous mobile unit. An elevator control device according to any one of claims 1 to 10.

12. An elevator control system comprising: an elevator control device provided for each elevator having a movable elevator car installed within a building, which controls the elevator; and an autonomous mobile body that can travel autonomously and board the elevator car, The elevator control device is A communication unit that communicates with the aforementioned autonomous mobile unit, An anomaly detection unit that detects a communication anomaly with the aforementioned autonomous mobile unit, When the elevator car arrives at any floor, a door opening control is performed to open the doors of the elevator car, and when the abnormality detection unit detects the communication abnormality, a load detection unit that detects the load of the elevator car detects that the load inside the elevator car has changed by a first weight, and if the state in which the load has changed continues for a first time, a door control unit interrupts the door opening control. An elevator control system equipped with [this feature].

13. The door control unit interrupts the door opening control when the load detection unit detects that the load inside the elevator car has increased by the first weight, and the increased load continues for the first time. The elevator control system according to claim 12.

14. The door control unit interrupts the door opening control when the load detection unit detects that the load inside the elevator car has decreased by the first weight, and the reduced load state continues for the first time. The elevator control system according to claim 12.

15. The elevator control device is The vehicle further comprises a control unit for controlling the movement of the elevator car, When the abnormality detection unit detects the communication abnormality, the door control unit determines, when the load detection unit detects a change in the load inside the elevator car, that the autonomous mobile vehicle has started to board the elevator car or has started to disembark from the elevator car. If the control unit does not change the load inside the elevator car even after a second time has elapsed since detecting the communication anomaly, it moves the elevator car to a predetermined floor. The elevator control system according to claim 12.

16. The elevator control device is The vehicle further comprises a control unit for controlling the movement of the elevator car, When the abnormality detection unit detects the communication abnormality, the door control unit determines, when the load detection unit detects a change in the load inside the elevator car, that the autonomous mobile vehicle has started to board the elevator car or has started to disembark from the elevator car. The control unit terminates the autonomous mobile unit linked operation if the load inside the elevator car does not change even after a second time has elapsed since detecting the communication abnormality. The elevator control system according to claim 12.

17. If, after the load inside the elevator car has changed, the load detection unit determines that the load inside the elevator car has not changed by a first weight, the door control unit continues the door opening control. The elevator control device is If, after a third time has elapsed since the load inside the elevator car changed, the load inside the elevator car has not changed by the first weight, the output control unit outputs a warning. The elevator control system according to claim 15, further comprising the above.

18. The elevator control device is The vehicle further comprises a control unit for controlling the movement of the elevator car, If the door does not become fully closed after the door opening control has been interrupted, the door opening control continues the door opening control to fully open the door. The elevator control system according to claim 12.

19. The door control unit, when a passage is detected by a passage detection unit provided on the door that detects passage to the entrance / exit of the elevator car, does not interrupt the door opening control, but fully opens the door, and only after the passage detection unit no longer detects passage does it interrupt the door opening control. The elevator control system according to claim 12.

20. The elevator control device is The vehicle further comprises a control unit for controlling the movement of the elevator car, The door control unit, when the elevator car arrives at any floor, and when the abnormality detection unit detects the communication abnormality, will not perform the door opening control. When the elevator car arrives at any floor, and the abnormality detection unit detects the communication abnormality, if the autonomous mobile vehicle is in the elevator car, the control unit moves the elevator car to the floor where the autonomous mobile vehicle is in or to the reference floor. The elevator control system according to claim 12.

21. Of the multiple autonomous mobile units, the first autonomous mobile unit and the second autonomous mobile unit ride in the same elevator car, and the weight of the first autonomous mobile unit and the weight of the second autonomous mobile unit are different. The door control unit performs door-opening control to open the doors of the elevator car when the elevator car arrives at any floor, when the abnormality detection unit detects an abnormality in communication with the first autonomous mobile unit and detects that communication with the second autonomous mobile unit is normal, and when the load detection unit detects that the load inside the elevator car has changed by a first weight, and the state in which the load has changed continues for a first time, the door-opening control is interrupted. The elevator control system according to claim 12.

22. A server for elevators, which is connected to the elevator 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 communication unit communicates with the autonomous mobile unit via the elevator server and the autonomous mobile unit server. The abnormality detection unit detects any of the following: a communication abnormality between the elevator control device and the elevator server, a communication abnormality between the elevator server and the autonomous mobile unit server, or a communication abnormality between the autonomous mobile unit server and the autonomous mobile unit. An elevator control system according to any one of claims 12 to 21.

23. An elevator control method performed by an elevator control system comprising an elevator control device provided for each elevator having a movable elevator car installed in a building, which controls the elevator, and an autonomous mobile body that can travel autonomously and board the elevator car, The elevator control device performs the step of communicating with the autonomous mobile unit, The elevator control device includes the step of detecting a communication abnormality with the autonomous mobile body, The elevator control device performs door-opening control to open the elevator car doors when the elevator car arrives at any floor, and if a communication abnormality is detected, a load detection unit that detects the load inside the elevator car detects that the load inside the elevator car has changed by a first weight, and if the changed load state continues for a first time, the door-opening control is interrupted. An elevator control method including [a specific feature / method].

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