Elevator control device

Abstract

To alleviate the prolongation of a user's riding time, which may occur when the user and a robot ride in a car together. [Solution] When the control device assigns a hall call for a user and a hall call for a robot to the same car, it judges whether the following conditions are satisfied for the two hall calls: (1) the direction from the departure floor to the destination floor is the same, (2) the departure floor of the robot is between the departure floor of the user and the destination floor of the user, and (3) the position of the car is closer to the destination floor of the robot than the departure floor of the robot. Then, when it judges that conditions (1) to (3) are satisfied, it stops the car at the departure floor in the opposite direction to the forward direction of the robot from the departure floor to the destination floor, and has the robot board the car going in the opposite direction.

Description

[Technical field]

[0001] The present invention relates to a control technology for an elevator used by both users and robots. [Background technology]

[0002] There are elevators that assign a hall call to a car for a user every time the user registers a destination floor in a destination floor registration device (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-55976 A Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, robots have come to be used more and more in various tasks that were previously performed by humans in buildings (cleaning, monitoring, transportation, etc.). Accordingly, elevators are increasingly being used to move robots between floors in buildings, and there are an increasing number of cases where both users and robots use elevators.

[0005] On the other hand, a robot takes longer to board and disembark than a user. Therefore, in an environment where a robot uses an elevator together with a user, if the robot boards at an intermediate floor during the transportation of the user, or if the robot disembarks at an intermediate floor during the transportation of the user, the user will be forced to wait in the elevator until the robot has boarded and disembarked. In this way, when a user and a robot ride together in an elevator, the user may be forced to spend a longer time riding until the user reaches his or her destination floor.

[0006] Therefore, an object of the present invention is to alleviate the lengthening of a user's riding time that can occur when a user and a robot ride in the same car. [Means for solving the problem]

[0007] The control device according to the present invention is a control device that executes allocation of hall calls to elevator cars, and performs the following control process (mode 1). When the control device allocates hall calls for users and hall calls for a robot to the same elevator car, it judges whether or not the following conditions are satisfied for the two hall calls: (1) the direction from the departure floor to the destination floor is the same, (2) the departure floor of the robot is between the departure floor of the user and the destination floor of the user, and (3) the position of the elevator car is closer to the destination floor of the robot than the departure floor of the robot. If the control device judges that the conditions (1) to (3) are satisfied, it stops the elevator car at the departure floor in the opposite direction to the forward direction of the robot from the departure floor to the destination floor, and has the robot board the elevator car going in the opposite direction.

[0008] In an elevator, a control is generally performed such that the elevator car is stopped in the forward direction from the departure floor to the destination floor at either the departure floor or the destination floor indicated by the hall call assigned to the elevator car. In such a normal control, in a case where a robot gets on the elevator after a user gets on the elevator (a case where the user's riding time is extended due to the robot getting on at an intermediate floor), according to the above-mentioned aspect 1, when the elevator car is moving in the reverse direction at a stage before it arrives at the departure floor of the robot in the forward direction, the elevator car can be stopped in the reverse direction at the departure floor of the robot. Specifically, when it is determined that the condition (3) is satisfied, when the elevator car reaches the departure floor of the robot for the first time after the determination in the process of circulating the operation area, the elevator car will reach the departure floor in the reverse direction. Therefore, when the elevator car moves in the reverse direction in the process of circulating the operation area, the elevator car can be stopped in the reverse direction at the departure floor of the robot in the middle of the process. Therefore, it is possible to efficiently load the robot into a car going in the opposite direction. By loading the robot into the car going in the opposite direction, it is possible to load the robot before the user. This means that the user does not have to experience the robot loading into the car while traveling. As a result, it is possible to alleviate the lengthening of the user's riding time.

[0009] The control device according to the above aspect 1 may further determine whether or not the condition (4) that the robot's destination floor is between the user's departure floor and the user's destination floor is satisfied for the above two hall calls, and if it determines that this condition (4) is also satisfied, may stop the elevator in the reverse direction at the robot's departure floor (aspect 2).

[0010] According to the above-mentioned aspect 2, in the case where a robot gets on a car after a user gets on the car under normal control, and the robot gets off before the user (the case where the user's ride time would be significantly extended due to the robot getting on and off at an intermediate floor), it becomes possible to have the robot get on a car going in the opposite direction, thereby making it possible for the robot to get on before the user. This means that the user does not have to experience the robot getting on while moving in the car. As a result, it becomes possible to alleviate the significant lengthening of the user's ride time.

[0011] Furthermore, according to the above-mentioned aspect 2, the robot can be loaded into a car going in the opposite direction to the forward direction from the departure floor to the destination floor. This makes it possible to distribute the burden on users of the extended ride time caused by the robot getting on or off the car not only to users moving in the forward direction, but also to other users moving in the opposite direction.

[0012] The control device according to the above aspect 1 or 2, when the car is stopped in the opposite direction at the departure floor of the robot, may temporarily hold the destination floor of the robot as a car call for the car without registering it, and when the direction of movement of the car is reversed at the departure floor of the user or a floor on the opposite side of the departure floor from the destination floor of the user, may execute the registration of the held car call (aspect 3).

[0013] According to the above-mentioned aspect 3, even if the car stops at the departure floor of the robot, the registration of the car call of the robot to the car is temporarily suspended, and then, after the reversal of the moving direction of the car is completed, the car call is registered to the car. Here, in an elevator, when the moving direction of the car is reversed, a control (reset control) is generally performed to erase the car call remaining registered in the car at that time. Even when such a reset control is performed, according to the above-mentioned aspect 3, the car call of the robot is still suspended when the moving direction of the car is reversed, so that it remains unregistered at that time, and therefore is prevented from being erased at the time of reversal. And, the car call of the robot is registered after the reversal of the moving direction of the car is completed (i.e., after the process of erasing the car call is completed). Therefore, even when the reset control is performed, it is possible to move the car stopped in the opposite direction at the departure floor of the robot to the destination floor of the robot without being affected by the reset control.

[0014] When the control device according to the above aspect 1 or 2 stops the elevator in the reverse direction at the departure floor of the robot, it may further assign to the elevator a second hall call for the robot in which the departure floor of the user is replaced without changing the destination floor of the robot (aspect 4).

[0015] According to the above-mentioned aspect 4, by assigning the second hall call for the robot to the car, when the car stops in the forward direction at the departure floor of the user set as the departure floor of the second hall call, it is possible to register the car call for the robot in the car by utilizing the car's stop at the departure floor. Here, in an elevator, when the car arrives at the departure floor indicated by each hall call, a control is generally performed in which the destination floor indicated by the hall call is used to register the destination floor as a car call in the car. In addition, when the moving direction of the car is reversed, a control (reset control) is also generally performed in which the car call remaining registered in the car is erased at that time. Even when such a reset control is performed, according to the above-mentioned aspect 4, it is possible to move the car stopped in the reverse direction at the departure floor of the robot to the destination floor of the robot without being affected by the control.

[0016] If the control device according to the above aspect 2 (including the control device according to the above aspect 3 or 4 that is subordinate to the above aspect 2) determines that condition (4) is also satisfied, it may further stop a car in the opposite direction at the robot's destination floor and allow the robot to disembark from the car heading in the opposite direction (aspect 5).

[0017] According to the above-mentioned aspect 5, in the case where the robot gets off the car before the user gets off under normal control (the case where the user's riding time is extended due to the robot getting off at an intermediate floor), the car can be made to pass the robot's destination floor without stopping in the forward direction, and can be made to stop at the destination floor of the robot when it returns in the reverse direction. Then, by making the robot get off from the car going in the reverse direction, it becomes possible for the robot to get off after the user. This not only prevents the user from experiencing the robot getting on while traveling in the car, but also prevents the user from experiencing the robot getting off. As a result, it becomes possible to shorten the user's riding time to the same extent as when the robot is not riding on the car. Effect of the Invention

[0018] According to the present invention, it is possible to alleviate the lengthening of a user's riding time that may occur when a user and a robot ride in the same car. [Brief description of the drawings]

[0019] [Figure 1] 1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. [Diagram 2] 2A and 2B are conceptual diagrams illustrating device management data Dp and robot management data Dr used in the embodiment. [Diagram 3] 4 is a flowchart showing a control process performed by a group management control device in an embodiment. [Figure 4] 4 is a flowchart showing a first command process executed in the embodiment. [Diagram 5] 10 is a flowchart showing a second command process executed in the embodiment. [Figure 6] 10 is a flowchart showing a third command process executed in the embodiment. [Figure 7] 13 is a flowchart showing a third command process executed in a second modified example. [Figure 8] 13 is a flowchart showing a third command process executed in a third modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] [1] Implementation Example [1-1] Overall structure of elevator Fig. 1 is a conceptual diagram showing the overall configuration of an elevator according to an embodiment. In this embodiment, the elevator is used not only by users but also by a robot H that performs various tasks (cleaning, monitoring, transport, etc.) in the building in which the elevator is installed. The elevator of this embodiment includes a car G, a destination floor registration device 1, an elevator control device 2, a group management control device 3, and a robot management device 4. The configuration of each part will be specifically described below.

[0021] <Destination floor registration device> The destination floor registration device 1 is a device for an elevator user to register a destination floor Fd, and is installed at each floor where the elevator stops.

[0022] When a user registers a destination floor Fd in the destination floor registration device 1, the destination floor Fd is transmitted to the group management control device 3. As a result, a call registration for the user (allocation of a hall call for the user to a car G) is requested to the group management control device 3. At this time, the destination floor registration device 1 transmits its own device information Pd to the group management control device 3 together with the destination floor Fd so that the group management control device 3 recognizes that the source of the destination floor Fd is the destination floor registration device 1, not the robot H, and which destination floor registration device 1 it is.

[0023] <Elevator control device> The elevator control device 2 is provided for each car G, and controls the operation of the car G associated with itself.

[0024] <Group management control device> The group management control device 3 is a device that centrally manages the cars G through the elevator control devices 2, and includes a storage unit 31 and a control unit 32 (see FIG. 1). In this embodiment, the group management control device 3 executes a control process to make it possible to alleviate the lengthening of the user's riding time that may occur when the user and the robot H ride in the car G together. The control process performed by the group management control device 3 will be described in detail later.

[0025] The storage unit 31 is a part configured with storage devices such as ROM and RAM, and stores information necessary for the control processing performed by the group management control device 3. In this embodiment, device management data Dp is stored in the storage unit 31 as such information. The device management data Dp is a database for managing, for each destination floor registration device 1, a plurality of pieces of information related to that destination floor registration device 1 in association with each other.

[0026] 2(A) is a conceptual diagram illustrating the device management data Dp used in this embodiment. In the device management data Dp illustrated in this figure, for each destination floor registration device 1, device information Pd for identifying the destination floor registration device 1 from other devices and the installation floor Fs of the destination floor registration device 1 are recorded in a mutually associated state.

[0027] As a result, when the group management control device 3 receives the device information Pd together with the destination floor Fd from each destination floor registration device 1, it becomes possible to identify the floor Fs where the destination floor registration device 1 (the destination floor registration device 1 where the destination floor Fd has been registered) is installed from the device information Pd. In this embodiment, the floor Fs where the destination floor registration device 1 is installed is used as the departure floor Fc (boarding floor) of the user who has registered the destination floor Fd in the destination floor registration device 1.

[0028] The control unit 32 is a part that realizes the control processing performed by the group management control device 3. In this embodiment, the control unit 32 is configured with a processing device such as a CPU or an MPU. The control unit 32 executes a program, thereby realizing the above-mentioned control processing by software.

[0029] Here, the above-mentioned programs are installed in the group management control device 3, and before installation, they may be stored in a readable state on a portable storage medium (for example, a flash memory, etc.), or may be stored in a downloadable state on another server, etc. The control processing performed by the group management control device 3 is not limited to being realized by software through execution of a program, but may also be realized by hardware using a processing circuit (control unit 32) built in the group management control device 3.

[0030] <Robot management device> The robot management device 4 is a device that centrally manages the robots H used in the building in which the elevator of this embodiment is installed, and includes a storage unit 41 and a control unit 42 (see FIG. 1).

[0031] The storage unit 41 is a part configured with storage devices such as ROM and RAM, and stores information necessary for the control processing performed by the robot management device 4. In this embodiment, robot management data Dr is stored in the storage unit 41 as such information. The robot management data Dr is a database for managing, for each robot H, multiple pieces of information related to that robot H in association with each other.

[0032] 2(B) is a conceptual diagram illustrating the robot management data Dr used in this embodiment. In the robot management data Dr illustrated in this figure, for each robot H, robot information Ph for distinguishing the robot H from other robots H and the current floor Fp of the robot H are recorded in a mutually associated state. Here, the current floor Fp associated with each robot H is the floor on which the robot H is located, and is updated each time the robot H moves between floors.

[0033] The control unit 42 is a part that realizes the control processing performed by the robot management device 4. In this embodiment, the control unit 42 realizes the following processing as one of the control processing performed by the robot management device 4.

[0034] When it becomes necessary for each robot H to move between floors, it transmits the destination floor Fd to which it will move to the robot management device 4. At this time, the robot H transmits its own robot information Ph to the robot management device 4 together with the destination floor Fd so that the robot management device 4 recognizes which robot H has transmitted the destination floor Fd.

[0035] Furthermore, when it becomes necessary for each robot H to move between floors, it boards a car G from the current floor Fp and moves to the destination floor Fd. In other words, the current floor Fp of each robot H becomes the departure floor Fc (boarding floor) when the robot H moves between floors.

[0036] Therefore, when the robot management device 4 receives the destination floor Fd and robot information Ph from each robot H, the robot management device 4 uses the robot management data Dr to extract the current floor Fp associated with the received robot information Ph in order to identify the departure floor Fc (boarding floor) of that robot H.

[0037] Then, the robot management device 4 transmits the extracted current floor Fp to the group management control device 3 as the departure floor Fc (=Fp) of the robot H for the current floor Fp, together with the destination floor Fd and the robot information Ph received from the robot H. As a result, a call registration for the robot H (assignment of a hall call to the car G for the robot H) is requested to the group management control device 3.

[0038] In this embodiment, the control unit 42 that realizes such control processing is configured with a processing device such as a CPU, an MPU, etc. The control unit 42 executes a program, thereby realizing the above-mentioned control processing in software.

[0039] Here, the above-mentioned program is installed in the robot management device 4, and before installation, it may be stored in a readable state on a portable storage medium (e.g., a flash memory, etc.) or may be stored in a downloadable state on another server, etc. The control process performed by the robot management device 4 is not limited to being realized by software through execution of a program, but may also be realized by hardware using a processing circuit (control unit 42) built in the robot management device 4.

[0040] [1-2] Control processing performed by the group management control device 3 is a flowchart showing the control process performed by the group management control device 3 in this embodiment. This control process is started when the destination floor registration device 1 or the robot management device 4 requests the group management control device 3 to register a call.

[0041] Hereinafter, the information received by the group management control device 3 each time there is a call registration request is collectively referred to as "received information Pr." Specifically, if the call registration request is from the destination floor registration device 1 (a call registration request for a user), this received information Pr includes the destination floor Fd and device information Pd, and if the call registration request is from the robot management device 4 (a call registration request for the robot H), the received information Pr includes the departure floor Fc, the destination floor Fd, and the robot information Ph.

[0042] When the control process is started, the group management control device 3 determines whether the received call registration request is from the destination floor registration device 1 or the robot management device 4, and determines whether the received information Pr contains the device information Pd or the robot information Ph (step S10).

[0043] When the group management control device 3 determines in step S10 that the "device information Pd" is included, it can determine that the received call registration request is a request from the destination floor registration device 1. In this case, the group management control device 3 uses the device management data Dp to extract the installation floor Fs associated with the device information Pd in ​​the received information Pr, sets it as the departure floor Fc of the user, and then assigns the departure floor Fc and the destination floor Fd in the received information Pr (the destination floor Fd of the user) as one hall call (hereinafter referred to as the "target hall call Cg1") to any one of the elevator cars G (hereinafter referred to as the "target car Gk") (assignment for the user; step S11).

[0044] Thereafter, the group management control device 3 executes a first command process described below as a process for stopping the target car Gk at the departure floor Fc and the destination floor Fd indicated by the target hall call Cg1.

[0045] 4 is a flow chart showing the first command processing executed in this embodiment. In the first command processing, the group management control device 3 transmits a command to the target car Gk to stop the target car Gk in the forward direction Ks at the departure floor Fc (the departure floor Fc of the user) indicated by the target hall call Cg1 (step S101). Here, the forward direction Ks is the direction from the departure floor Fc indicated by the target hall call Cg1 to the destination floor Fd indicated by the target hall call Cg1.

[0046] After step S101, the group management control device 3 judges whether the target car Gk has arrived at the departure floor Fc indicated by the target hall call Cg1 (step S102). Furthermore, the group management control device 3 repeatedly executes step S102 until it can judge "arrived (Yes)" in step S102.

[0047] When the group management control device 3 judges that the car has arrived (Yes) in step S102, it registers the destination floor Fd (the destination floor Fd of the user) indicated by the target hall call Cg1 as a car call (hereinafter referred to as the target car call Cg2) in the target car Gk (step S103). On the other hand, the target hall call Cg1 ends its role by using the destination floor Fd indicated by the target hall call Cg1 to register a car call in the target car Gk. Therefore, the group management control device 3 deletes the target hall call Cg1 that has completed its role from the target car Gk.

[0048] After step S103, the group management control device 3 transmits a command to the target car Gk to depart from the departure floor Fc of the user in the forward direction Ks (step S104).

[0049] Thereafter, the group management control device 3 transmits a command to the target car Gk to stop the target car Gk in the forward direction Ks at the destination floor Fd indicated by the target car call Cg2 (step S105).

[0050] After step S105, the group management control device 3 judges whether the target car Gk has arrived at the destination floor Fd indicated by the target car call Cg2 (step S106). Furthermore, the group management control device 3 repeatedly executes step S106 until it can be judged that the target car Gk has arrived (Yes) in step S106.

[0051] When the group management control device 3 judges that the car call Cg2 of interest has arrived (Yes) in step S106, the car call Cg2 of interest has completed its role due to the arrival, and therefore the group management control device 3 deletes the car call Cg2 of interest from the target car Gk (step S107). After that, the group management control device 3 ends the control process.

[0052] According to the first command process, the car G can be stopped in the forward direction Ks from the departure floor Fc to the destination floor Fd at either the departure floor Fc or the destination floor Fd indicated by the hall call (target hall call Cg1) of the user assigned to the car G. Note that such control is generally performed when the user registers the destination floor Fd in the destination floor registration device 1.

[0053] On the other hand, if the group management control device 3 determines in step S10 (see FIG. 3) that "robot information Ph" is included, it can determine that the received call registration request is a request from the robot management device 4. In this case, the group management control device 3 assigns the departure floor Fc and destination floor Fd in the received information Pr as one hall call (hereinafter referred to as "target hall call Ch1") to any one of the cars G (hereinafter referred to as "target car Gk") (assignment for robot H; step S12). Note that, in the following, for the sake of simplicity, it is assumed that at most one assignment for robot H is made to each car G.

[0054] After step S12, the group management control device 3 determines whether to execute the second command process (see FIG. 5) or the third command process (see FIG. 6) as a process for stopping the target car Gk at the departure floor Fc and the destination floor Fd indicated by the target hall call Ch1, and then executes one of the command processes. The second command process and the third command process will be described later in detail.

[0055] Specifically, the group management control device 3 first judges whether or not there is another hall call (a hall call other than the hall call for the robot H) among hall calls already assigned to the target car Gk (step S21). Here, since at most one assignment is made to each car G for the robot H, if there is another hall call, it is a hall call for a user. Therefore, in step S21, the group management control device 3 can judge whether or not the assignment of a hall call for a user and the assignment of a hall call for the robot H are made to the same one car G (target car Gk) by judging whether or not there is another hall call. In other words, the group management control device 3 can judge whether or not there is a user who is likely to ride with the robot H in the target car Gk.

[0056] When the group management control device 3 judges "Yes" in step S21, it can determine that there is a user who may be riding with the robot H in the target car Gk. In this case, the group management control device 3 judges whether or not all of the following conditions (1) to (3) are satisfied for the two hall calls for the user who may be riding with the robot H (step S22).

[0057] Condition (1): The direction from the departure floor Fc to the destination floor Fd is the same. Condition (2): The departure floor Fc of the robot H is between the user's departure floor Fc and the user's destination floor Fd. Condition (3): The position of the target cage Gk is closer to the destination floor Fd of the robot H than the departure floor Fc of the robot H.

[0058] If at least one of the conditions (1) and (2) is not satisfied, after a user boards the target cage Gk at the departure floor Fc, the robot H will not board the target cage Gk until the target cage Gk arrives at the destination floor Fd of the user, and the user will not have to experience the robot H getting off at an intermediate floor. Even if the conditions (1) and (2) are satisfied, if the condition (3) is not satisfied, the target cage Gk will reach the departure floor Fc of the user before the departure floor Fc of the robot H in the process of circulating the operation section, and in such a case, the robot H will have to board the target cage Gk after the user. Furthermore, if there is no other hall call (a hall call other than the hall call for the robot H) among the hall calls already assigned to the target cage Gk, there will be no user who is likely to board the target cage Gk with the robot H at that time.

[0059] Therefore, if the group management control device 3 determines "not satisfied (No)" in step S21, or if it determines "not satisfied (No)" in step S22, the group management control device 3 executes a second command process. Note that this second command process is a modification of the above-mentioned first command process (see FIG. 4) for robot H. Hereinafter, the first command process and the second command process will be collectively referred to as "normal control."

[0060] On the other hand, if conditions (1) and (2) are satisfied, in normal control (first command processing and second command processing), after a user boards the target cage Gk at the departure floor Fc, the robot H boards at an intermediate floor (the departure floor Fc of the robot H) before the target cage Gk arrives at the destination floor Fd of the user. In this case, the user is forced to wait in the target cage Gk until the robot H has boarded at the intermediate floor. In this way, when the user and the robot H board the target cage Gk together, the user may be forced to take a longer ride time to reach the destination floor Fd due to the robot H boarding at an intermediate floor.

[0061] Then, if condition (3) is also satisfied, the target car Gk, in the process of circulating the operating area, will reach the departure floor Fc of the robot H before the departure floor Fc of the passenger riding therewith. Specifically, when the target car Gk, in the process of circulating the operating area, moves further from the state in which condition (3) is satisfied and reaches the departure floor Fc of the robot H for the first time, it will reach the departure floor Fc in the reverse direction Kt (the direction opposite to the forward direction Ks from the departure floor Fc of the robot H to the destination floor Fd of the robot H).

[0062] Therefore, in order to take advantage of the opportunity for the target cage Gk to reach the departure floor Fc of the robot H in the reverse direction Kt, and to alleviate the lengthening of the user's riding time that may occur when the user and the robot H ride in the target cage Gk together, the group management control device 3 executes a third command processing when it is determined in step S22 that all of the conditions (1) to (3) are "satisfied (Yes)."

[0063] The second command process and the third command process will be described in detail below.

[0064] 5 is a flowchart showing the second command process executed in this embodiment. In the second command process, the group management control device 3 transmits a command to the target car Gk to stop the target car Gk in the forward direction Ks at the departure floor Fc (the departure floor Fc of the robot H) indicated by the target hall call Ch1 (step S201).

[0065] After step S201, the group management control device 3 judges whether the target car Gk has arrived at the departure floor Fc indicated by the target hall call Ch1 (step S202). Furthermore, the group management control device 3 repeatedly executes step S202 until it can judge "arrived (Yes)" in step S202.

[0066] If the group management control device 3 determines in step S202 that the robot has arrived (Yes), it sends a boarding start signal Sx1 to the robot management device 4 together with the robot information Ph of the robot H (robot information Ph in the received information Pr) to start the robot H boarding the arrived target cage Gk (step S203).

[0067] When the robot management device 4 receives the boarding start signal Sx1 from the group management control device 3, it causes the robot H identified by the robot information Ph received together with the signal to start boarding into the target cage Gk. After that, when the robot H completes boarding, it notifies the robot management device 4 of the completion of boarding into the target cage Gk. Then, when the robot management device 4 receives a boarding completion notification from the robot H, it replies to the group management control device 3 with the robot information Ph of the robot H to notify that the robot H has completed boarding.

[0068] Thereafter, the group management control device 3 judges whether or not the boarding completion signal Sx2 has been received from the robot management device 4 (step S204). The group management control device 3 repeats step S204 until it can judge "received (Yes)" in step S204. At this time, some kind of trouble (such as a power system failure or a battery power shortage) may occur in the robot H, and the robot H may not be able to complete boarding into the target car Gk. Therefore, if the group management control device 3 cannot receive the boarding completion signal Sx2 (cannot judge "received (Yes)" in step S204) and a predetermined time has elapsed, it may delete the target hall call Ch1 from the target car Gk and end the control process.

[0069] Then, when the group management control device 3 judges that the target hall call Ch1 has been received (Yes) in step S204, it registers the destination floor Fd (destination floor Fd of the robot H) indicated by the target hall call Ch1 in the target car Gk as a car call (hereinafter referred to as the target car call Ch2) (step S205). On the other hand, the target hall call Ch1 ends its role by using the destination floor Fd indicated by the target hall call Ch1 to register a car call in the target car Gk. Therefore, the group management control device 3 deletes the target hall call Ch1 that has completed its role from the target car Gk.

[0070] After step S205, the group management control device 3 transmits a command to the target car Gk to depart in the forward direction Ks from the departure floor Fc of the robot H (step S206). The group management control device 3 also transmits a command to the target car Gk to stop in the forward direction Ks at the destination floor Fd indicated by the target car call Ch2 (step S207).

[0071] After step S207, the group management control device 3 judges whether the target car Gk has arrived at the destination floor Fd indicated by the target car call Ch2 (step S208). Furthermore, the group management control device 3 repeatedly executes step S208 until it can judge "arrived (Yes)" in step S208.

[0072] If the group management control device 3 determines in step S208 that the robot has arrived (Yes), it sends a disembarkation start signal Sy1 to the robot management device 4 along with the robot information Ph of the robot H (robot information Ph in the received information Pr) and the arrival floor of the target car Gk at that time (the floor where the robot H disembarks) in order to cause the robot H to start disembarking from the arrived target car Gk (step S209).

[0073] When the robot management device 4 receives the disembarking start signal Sy1 from the group management control device 3, it causes the robot H identified by the robot information Ph received together with the signal to start disembarking from the target cage Gk. Thereafter, when the robot H completes disembarking, it notifies the robot management device 4 of the completion of disembarking from the target cage Gk. Then, when the robot management device 4 receives a notification of disembarking completion from the robot H, it replies to the group management control device 3 with the robot information Ph of the robot H to notify the completion of disembarking of the robot H. Also, the robot management device 4 updates the current floor Fp of the robot H recorded in the robot management data Dr using the arrival floor (the floor where the robot H disembarks) of the target cage Gk received from the group management control device 3.

[0074] Since the role of the target car call Ch2 is completed when the target car Gk arrives at the destination floor Fd of the robot H, the group management control device 3 deletes the target car call Ch2 from the target car Gk (step S210).

[0075] Thereafter, it is determined whether or not a disembarking completion signal Sy2 has been received from the robot management device 4 (step S211). Furthermore, the group management control device 3 repeatedly executes step S211 until it can determine "received (Yes)" in step S211. Then, when it determines "received (Yes)" in step S211, the group management control device 3 ends the control process.

[0076] According to the second command processing, the elevator G can be stopped in the forward direction Ks from the departure floor Fc to the destination floor Fd at either the departure floor Fc or the destination floor Fd indicated by the hall call (target hall call Ch1) of the robot H assigned to the elevator G.

[0077] 6 is a flow chart showing the third command process executed in this embodiment. In the third command process, the group management control device 3 transmits a command to the target car Gk to stop the target car Gk in the reverse direction Kt at the departure floor Fc (the departure floor Fc of the robot H) indicated by the target hall call Ch1 (step S301). Here, the reverse direction Kt is the direction opposite to the forward direction Ks from the departure floor Fc indicated by the target hall call Ch1 to the destination floor Fd indicated by the target hall call Ch1.

[0078] Here, since it is determined that the condition (3) is satisfied as one of the prerequisites for starting the third command process, the target car Gk will reach the departure floor Fc of the robot H in the reverse direction Kt when it reaches the departure floor Fc of the robot H for the first time after the determination in the process of going around the operation area. Therefore, when the target car Gk moves in the reverse direction Kt in the process of going around the operation area, the target car Gk can be stopped in the reverse direction Kt at the departure floor Fc of the robot H on the way. Therefore, according to step S301, the target car Gk can be efficiently stopped in the reverse direction Kt at the departure floor Fc indicated by the target hall call Ch1, and as a result, the robot H can be efficiently boarded in the target car Gk heading in the reverse direction Kt.

[0079] After step S301, the group management control device 3 judges whether the target car Gk has arrived at the departure floor Fc indicated by the target hall call Ch1 (step S302). Furthermore, the group management control device 3 repeatedly executes step S302 until it can judge "arrived (Yes)" in step S302.

[0080] If the group management control device 3 determines in step S302 that the robot has arrived (Yes), it sends a boarding start signal Sx1 to the robot management device 4 to instruct the robot H to start boarding the arrived target cage Gk, together with the robot information Ph of the robot H (robot information Ph in the received information Pr) (step S303).

[0081] When the robot management device 4 receives the boarding start signal Sx1 from the group management control device 3, it causes the robot H identified by the robot information Ph received together with the signal to start boarding into the target cage Gk. After that, when the robot H completes boarding, it notifies the robot management device 4 of the completion of boarding into the target cage Gk. Then, when the robot management device 4 receives a boarding completion notification from the robot H, it replies to the group management control device 3 with the robot information Ph of the robot H to notify that the robot H has completed boarding.

[0082] Thereafter, the group management control device 3 judges whether or not the boarding completion signal Sx2 has been received from the robot management device 4 (step S304). The group management control device 3 repeats step S304 until it judges "received (Yes)" in step S304. At this time, some trouble (such as a power system failure or a battery power shortage) may occur in the robot H, and the robot H may not be able to complete boarding into the target car Gk. Therefore, if the group management control device 3 is unable to receive the boarding completion signal Sx2 (is unable to judge "received (Yes)" in step S304) and a predetermined time has elapsed, it may delete the target hall call Ch1 from the target car Gk and end the control process.

[0083] Then, when the group management control device 3 judges that the call has been received (Yes) in step S304, unlike normal control, the group management control device 3 does not register the destination floor Fd indicated by the target hall call Ch1 (the destination floor Fd of the robot H) as a car call in the target car Gk, but temporarily reserves it (step S305). Specifically, the group management control device 3 does not register the destination floor Fd indicated by the target hall call Ch1 as a car call in the target car Gk at this time, but assigns it to the variable Z. As a result, the group management control device 3 creates a state in which the registration of the car call for the robot H is reserved. On the other hand, the target hall call Ch1 for the robot H ends its role by transferring the data of the destination floor Fd indicated by the target hall call Ch1 to the variable Z. Therefore, the group management control device 3 deletes the target hall call Ch1 that has completed its role from the target car Gk.

[0084] After step S305, the group management control device 3 transmits a command to the target car Gk to depart from the departure floor Fc of the robot H in the reverse direction Kt (step S306).

[0085] Here, when the target cage Gk is stopped in the reverse direction Kt at the departure floor Fc of the robot H, in order to move the target cage Gk to the destination floor Fd of the robot H (the destination floor Fd indicated by the value of the variable Z), after the target cage Gk departs from the departure floor Fc of the robot H in the reverse direction Kt, the target cage Gk must be moved in the reverse direction Kt as it is and the direction of movement must be reversed to the forward direction Ks at the user's departure floor Fc, or the target cage Gk must be moved further in the reverse direction Kt and then the direction of movement must be reversed to the forward direction Ks at some floor (a floor on the opposite side of the user's destination floor Fd from the user's departure floor Fc).

[0086] On the other hand, in an elevator, when the moving direction of a car G is reversed, a control (hereinafter referred to as "reset control") is generally performed to erase the car call remaining registered in the car G. For this reason, when a target car Gk arrives at the departure floor Fc of a robot H in the opposite direction Kt, if the destination floor Fd of the robot H is registered as a car call at that timing, the car call will remain registered until the target car Gk reverses its moving direction, and will be erased (reset) when the moving direction of the target car Gk is reversed.

[0087] In this embodiment, therefore, in order to prevent the car call for the robot H from being erased (reset) in the above-mentioned manner, the registration of the car call is temporarily suspended as described above, and then, when the moving direction of the target car Gk is reversed, the registration of the suspended car call is executed. Specifically, the following process is executed.

[0088] After step S306, the group management control device 3 judges whether the moving direction of the target car Gk has been reversed (step S307). Furthermore, the group management control device 3 repeatedly executes step S307 until it can judge "reversed (Yes)" in step S307.

[0089] Then, when the group management control device 3 determines "reversed (Yes)" in step S307, it registers the destination floor Fd indicated by the value of the variable Z in the target car Gk as a car call of the robot H (hereinafter referred to as "car call of interest Ch3") (step S308). As a result, the registration of the car call for the robot H that was on hold is executed in the target car Gk.

[0090] According to such a process (mainly steps S305, S307 to S308), even if the target car Gk stops at the departure floor Fc of the robot H, the car call of the robot H is temporarily suspended from registration to the target car Gk, and then registered in the target car Gk after the reversal of the moving direction of the target car Gk from the reverse direction Kt to the forward direction Ks is completed. Therefore, even when the reset control is performed, the car call of the robot H is still suspended when the moving direction of the target car Gk reverses from the reverse direction Kt to the forward direction Ks, so that it remains unregistered at that time, and is therefore prevented from being erased at the time of reversal. And, the car call of the robot H is registered after the reversal of the moving direction of the target car Gk from the reverse direction Kt to the forward direction Ks is completed (i.e., after the process of erasing the car call is completed). Therefore, even when reset control is performed, it is possible to move the target car Gk, which has been stopped in the reverse direction Kt at the departure floor Fc of the robot H, to the destination floor Fd of the robot H without being affected by the control.

[0091] After step S308, the group management control device 3 sends a command to the target car Gk to stop the target car Gk in the forward direction Ks at the destination floor Fd indicated by the target car call Ch3 (the destination floor Fd indicated by the value of variable Z) (step S309).

[0092] After step S309, the group management control device 3 judges whether the target car Gk has arrived at the destination floor Fd indicated by the target car call Ch3 (the destination floor Fd indicated by the value of the variable Z) (step S310). Furthermore, the group management control device 3 repeatedly executes step S310 until it can judge "arrived (Yes)" in step S310.

[0093] If the group management control device 3 determines in step S310 that the robot has arrived (Yes), it sends a disembarkation start signal Sy1 to the robot management device 4 to instruct the robot H to start disembarking from the arrived target car Gk, along with the robot information Ph of the robot H (robot information Ph in the received information Pr) and the arrival floor of the target car Gk at that time (floor where the robot H disembarks) (step S311).

[0094] When the robot management device 4 receives the disembarking start signal Sy1 from the group management control device 3, it causes the robot H identified by the robot information Ph received together with the signal to start disembarking from the target cage Gk. Thereafter, when the robot H completes disembarking, it notifies the robot management device 4 of the completion of disembarking from the target cage Gk. Then, when the robot management device 4 receives a notification of disembarking completion from the robot H, it replies to the group management control device 3 with the robot information Ph of the robot H to notify the completion of disembarking of the robot H. Also, the robot management device 4 updates the current floor Fp of the robot H recorded in the robot management data Dr using the arrival floor (the floor where the robot H disembarks) of the target cage Gk received from the group management control device 3.

[0095] Since the role of the target car call Ch3 is completed when the target car Gk arrives at the destination floor Fd of the robot H, the group management control device 3 deletes the target car call Ch3 from the target car Gk (step S312).

[0096] Thereafter, the group management control device 3 determines whether or not a disembarking completion signal Sy2 has been received from the robot management device 4 (step S313). Furthermore, the group management control device 3 repeatedly executes step S313 until it can determine "received (Yes)" in step S313. Then, when it determines "received (Yes)" in step S313, the group management control device 3 ends the control process.

[0097] According to the third command process, in the case where the robot H gets on the car G after the user gets on the car G in the normal control (the first command process and the second command process) (the case where the user's ride time is extended by the robot H getting on at an intermediate floor), when the car G is moving in the reverse direction Kt at a stage before the car G arrives at the departure floor Fc of the robot H in the forward direction Ks (the stage before the moving direction is reversed from the reverse direction Kt to the forward direction Ks), the car G can be stopped at the departure floor Fc of the robot H in the reverse direction Kt as it is. Then, by having the robot H get on the car G heading in the reverse direction Kt, it becomes possible to have the robot H get on before the user. This eliminates the need for the user to experience the robot H getting on while moving in the car G. As a result, it becomes possible to alleviate the lengthening of the user's ride time.

[0098] [2] Variations [2-1] First modified example The first modification is a modification of the embodiment described above. In this modification, in step S22 (see FIG. 3), the group management control device 3 adds the following condition (4) to the conditions (1) to (3) and judges whether or not all of these conditions are satisfied.

[0099] Condition (4): The destination floor Fd of robot H is between the user's departure floor Fc and the user's destination floor Fd.

[0100] In the case of normal control (first command processing and second command processing) when all of the conditions (1) to (4) are satisfied, after a user gets on the target car Gk at the departure floor Fc, the robot H gets on at an intermediate floor (the departure floor Fc of the robot H) before the target car Gk arrives at the destination floor Fd of the user, and the robot H gets off at another intermediate floor (the destination floor Fd of the robot H). In this case, the user is made to wait in the target car Gk until the robot H has finished getting on at the intermediate floor, and further, the user is made to wait in the target car Gk until the robot H has finished getting off at another floor. In this way, when the user and the robot H get on the target car Gk together, the user may be forced to take a significantly longer ride time to reach his / her destination floor Fd due to the robot H getting on and off at two intermediate floors.

[0101] Therefore, in this modified example, the group management control device 3 executes the third command process (see FIG. 6) only when there is a risk of the boarding time becoming significantly longer. Specifically, the group management control device 3 executes the third command process (see FIG. 6) when it is determined in step S22 that all of the conditions (1) to (4) are "satisfied (Yes)."

[0102] According to the first modified example, in the case of normal control (first command processing and second command processing), in a case where the robot H gets on to the car G after the user gets on the car G and the robot H gets off before the user (a case where the user's riding time is significantly extended due to the robot H getting on and off at intermediate floors), it becomes possible to have the robot H get on to the car G going in the opposite direction Kt, thereby making it possible for the robot H to get on before the user. This eliminates the need for the user to experience the robot H getting on while moving in the car G. As a result, it becomes possible to alleviate the significant lengthening of the user's riding time.

[0103] Furthermore, according to the first modified example, since the robot H can be loaded into the car G heading in the reverse direction Kt, the burden on users of the longer ride time caused by the robot H getting on or off can be distributed among not only users moving in the forward direction Ks, but also other users moving in the reverse direction Kt.

[0104] [2-2] Second variant The second modification is a modification of the above-described embodiment. Fig. 7 is a flowchart showing a third command process executed in the second modification.

[0105] In the third command processing of this modified example, the group management control device 3 first targets a hall call of a user when it is determined that all conditions are “satisfied (Yes)” in step S22 (see Figure 3), and assigns the departure floor Fc indicated by the hall call of that user to variable Z (step S330).

[0106] Thereafter, the group management control device 3 executes steps S331 to S334 (the same processing as steps S301 to S304 described above). In this modification, when the group management control device 3 determines that the call has been received (Yes) in step S334, it further assigns the departure floor Fc (the departure floor Fc of the user) indicated by the value of the variable Z and the destination floor Fd (the destination floor Fd of the robot H) indicated by the hall call of interest Ch1 as a second hall call for the robot H to the target car Gk (step S335). In other words, the group management control device 3 assigns to the target car Gk, as a second hall call for the robot H, the departure floor Fc of the robot H being replaced with the departure floor Fc (the departure floor Fc of the user) indicated by the value of the variable Z without changing the destination floor Fd of the robot H. Then, the group management control device 3 deletes the first hall call (target hall call Ch1) that was assigned to the target car Gk for that robot H from the target car Gk.

[0107] After step S335, the group management control device 3 executes step S336 (the same process as step S306 described above), and then transmits a command to the target car Gk to stop the target car Gk in the forward direction Ks at the departure floor Fc indicated by the second hall call (the departure floor Fc indicated by the value of the variable Z = the departure floor Fc of the user) (step S337). Specifically, the group management control device 3, in response to a command from the target car Gk, stops the target car Gk at the departure floor Fc indicated by the second hall call and reverses the moving direction to the forward direction Ks, or further moves the target car Gk in the reverse direction Kt, and then reverses the moving direction to the forward direction Ks at some floor (a floor on the opposite side of the destination floor Fd of the user with respect to the departure floor Fc of the user), and then stops the target car Gk at the departure floor Fc indicated by the second hall call.

[0108] After step S337, the group management control device 3 judges whether the target car Gk has arrived at the departure floor Fc indicated by the second hall call (the departure floor Fc indicated by the value of the variable Z) (step S338). Furthermore, the group management control device 3 repeatedly executes step S338 until it can judge "arrived (Yes)" in step S338.

[0109] When the group management control device 3 determines "arrived (Yes)" in step S338, it uses the destination floor Fd indicated by the second hall call to register the destination floor Fd in the target car Gk as a car call of the robot H (target car call Ch3) (step S339). On the other hand, the second hall call ends its role by using the destination floor Fd indicated by that hall call to register the car call. Therefore, the group management control device 3 deletes the second hall call that has completed its role from the target car Gk.

[0110] Then, after the target car Gk departs from the departure floor Fc indicated by the second hall call (the departure floor Fc indicated by the value of variable Z = the user's departure floor Fc), the group management control device 3 sends a command to the target car Gk to stop it in the forward direction Ks at the destination floor Fd indicated by the target car call Ch3 (the destination floor Fd of robot H) (step S340).

[0111] After step S340, the group management control device 3 determines whether the target car Gk has arrived at the destination floor Fd (destination floor Fd of the robot H) indicated by the car call Ch3 of interest (step S341). Furthermore, the group management control device 3 repeatedly executes step S341 until it can determine "arrived (Yes)" in step S341.

[0112] If the group management control device 3 determines in step S341 that the message has arrived (Yes), it executes steps S342 to S344 (the same processes as steps S311 to S313 described above). Then, if the group management control device 3 determines in step S344 that the message has been received (Yes), it ends the control process.

[0113] According to the second modified example, by allocating the second hall call for the robot H to the target car Gk, when the target car Gk stops in the forward direction Ks at the departure floor Fc of the user set as the departure floor Fc (value of the variable Z) of the second hall call, it becomes possible to register the car call for the robot H in the target car Gk by utilizing the stop of the target car Gk at the departure floor Fc. Therefore, even when the reset control is performed, it becomes possible to move the target car Gk stopped in the reverse direction Kt at the departure floor Fc of the robot H to the destination floor Fd of the robot H without being affected by the control.

[0114] Incidentally, the configuration for allocating the second hall call to the target car Gk for the robot H in this manner can also be applied to the first modified example described above.

[0115] [2-3] Third variant The third modified example is a further modified example of the above-mentioned first modified example. Fig. 8 is a flowchart showing a third command process executed in the third modified example.

[0116] In the third command processing of this modified example, the group management control device 3 continues to suspend the registration of car calls for the robot H even after determining in step S307 that the movement direction of the target car Gk has “reversed (Yes)” to the forward direction Ks.

[0117] According to such a process, in the process of the target cage Gk moving in the forward direction Ks, the target cage Gk can be stopped at the destination floor Fd of the user, but can pass through the destination floor Fd of the robot H without stopping. This makes it possible for the user to disembark before the robot H. In this case, the target cage Gk reverses its moving direction from the forward direction Ks to the reverse direction Kt at the destination floor Fd of the user, or moves further in the forward direction Ks and then reverses its moving direction from the forward direction Ks to the reverse direction Kt at some floor (a floor on the opposite side of the departure floor Fc of the user with respect to the destination floor Fd of the user). In this embodiment, the following process is executed to disembark the robot H at the destination floor Fd after the user has disembarked.

[0118] When the group management control device 3 determines in step S307 that the moving direction of the target car Gk has "reversed (Yes)" to the forward direction Ks, it further determines whether the moving direction of the target car Gk has been reversed again to the reverse direction Kt (step S350). Furthermore, the group management control device 3 repeatedly executes step S350 until it can determine in step S350 that the moving direction has "reversed again (Yes)".

[0119] Then, when the group management control device 3 determines that "re-reversal has occurred (Yes)" in step S350, it uses the destination floor Fd indicated by the value of the variable Z to register the destination floor Fd in the target car Gk as a car call (target car call Ch3) of the robot H (step S351). As a result, the registration of the car call for the robot H that was on hold is executed in the target car Gk.

[0120] According to such processing (mainly steps S307, S350 to S351), even if the target car Gk stops at the departure floor Fc of the robot H, the registration of the car call of the robot H to the target car Gk as a car call (target car call Ch3) is temporarily suspended, and then the reversal of the moving direction of the target car Gk (reversal to the forward direction Ks) is completed, and then the registration to the target car Gk is executed after the reversal of the moving direction of the target car Gk (reversal to the reverse direction Kt) is completed. Therefore, even when the reset control is performed, the car call of the robot H remains suspended when the moving direction of the target car Gk is reversed and even when it is reversed again, so that it remains unregistered at those times and is avoided from being erased at the time of reversal. Then, the car call of the robot H is registered after the reversal of the moving direction of the target car Gk is completed (i.e., after the two processes of erasing the car call are completed). Therefore, even when reset control is performed, it is possible to stop the target car Gk, which has been stopped in the reverse direction Kt at the departure floor Fc of the robot H, again in the reverse direction Kt at the destination floor Fd of the robot H, without being affected by the control.

[0121] After step S351, the group management control device 3 sends a command to the target car Gk to stop the target car Gk in the reverse direction Kt at the destination floor Fd indicated by the target car call Ch3 (the destination floor Fd indicated by the value of variable Z) (step S352).

[0122] According to step S352, it is possible to stop the target car Gk in the reverse direction Kt at the destination floor Fd indicated by the target car call Ch3 (the destination floor Fd of the robot H), and to have the robot H disembark from the target car Gk heading in the reverse direction Kt.

[0123] According to the third modified example, in the case where the robot H gets off the car G before the user gets off the car G under normal control (the first command process and the second command process) (the case where the user's riding time is extended due to the robot H getting off at an intermediate floor), the car G is allowed to pass the destination floor Fd of the robot H without stopping in the forward direction Ks, and can be stopped at the destination floor Fd of the robot H when returning in the reverse direction Kt. Then, by making the robot H get off the car G going in the reverse direction Kt, it becomes possible to make the robot H get off after the user. This not only eliminates the need for the user to experience the robot H getting on while moving in the car G, but also eliminates the need for the robot H getting off. As a result, it becomes possible to shorten the user's riding time to the same extent as when the robot H is not riding with the user.

[0124] Incidentally, the configuration for stopping the car G in the reverse direction Kt even at the destination floor Fd of the robot H in this manner can also be applied to a combination of the first and second modified examples described above. In this case, the group management control device 3 can stop the car G in the reverse direction Kt even at the destination floor Fd of the robot H by temporarily suspending the registration of the car call in step S339.

[0125] The above-mentioned embodiments and the description of the modifications should be considered as illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims, not by the above-mentioned embodiments and modifications. Furthermore, the scope of the present invention is intended to include all modifications within the meaning and scope of the claims.

[0126] Furthermore, from the above-described embodiments and modifications, the subject of the invention is not limited to the group management control device 3, but the control processes and programs executed by the group management control device 3 may be individually extracted, or some of them may be partially extracted. Furthermore, some or all of the elevators equipped with the group management control device 3 may be extracted as the subject of the invention. [Explanation of symbols]

[0127] 1 Destination floor registration device 2 Elevator control device 3 Group management control device 4. Robot Management Device G Car H Robot 31, 41 Storage section 32, 42 Control section Dp Equipment Management Data Dr Robot Management Data Fc Departure floor Fd Destination floor Fp Current Floor Fs Installation floor Gk Target Basket Ks Forward Kt reverse direction Pd device information Ph Robot Information Pr Reception Information Cg1, Ch1 Focused hall call Cg2, Ch2, Ch3 Cage call of interest Sx1 Boarding start signal Sx2 ride completion signal Sy1 Disembarkation start signal Sy2 exit completion signal

Claims

1. A control device that executes allocation of hall calls to elevator cars in an elevator, When a hall call for a user and a hall call for a robot are assigned to the same elevator, the two hall calls are (1) The direction from the departure floor to the destination floor is the same, (2) A condition that the departure floor of the robot is between the departure floor of the user and the destination floor of the user; and (3) A condition that the position of the elevator is on the destination floor side of the robot rather than the departure floor of the robot; and Determine whether each of the following is satisfied, When it is determined that the conditions (1) to (3) are satisfied, the elevator control device stops the car at the departure floor in a direction opposite to the forward direction in which the robot travels from the departure floor to the destination floor, and has the robot board the car traveling in the opposite direction.

2. For the two hall calls, (4) A condition that the destination floor of the robot is between the departure floor of the user and the destination floor of the user; Determine whether or not the following is satisfied: The elevator control device according to claim 1 , further comprising: stopping the car in the reverse direction at a departure floor of the robot when it is determined that the condition (4) is also satisfied.

3. When the elevator is stopped in the reverse direction at the departure floor of the robot, the destination floor of the robot is temporarily reserved without being registered in the elevator as an elevator call, 3. An elevator control device as described in claim 1 or 2, which executes registration of the cage call that was on hold when the direction of movement of the cage is reversed at the departure floor of the user or at a floor on the opposite side of the departure floor from the destination floor of the user.

4. 3. An elevator control device as described in claim 1 or 2, wherein when the elevator car is stopped in the reverse direction at the departure floor of the robot, a second hall call for the robot is further assigned to the elevator car in which the destination floor of the robot is not changed but the departure floor is replaced with the departure floor of the user.

5. 3. The elevator control device of claim 2, further comprising: when it is determined that the condition (4) is also satisfied, the elevator car is stopped in the reverse direction at the destination floor of the robot, and the robot is allowed to disembark from the elevator car heading in the reverse direction.

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